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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c17ff0b89ab9366dbec3ed10e20b6c8780628f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ecf70aca3cac8d98c469541f12095db8ff9e918
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00003
+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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00003
+  reproducibility:
+    enabled: true
+    layout_id: layout_00003
+    action_seed: 8196756798222636436
+    step_seeds:
+    - 6038634529671703149
+    - 2665526681626151468
+    - 4292576788232893539
+    - 8311943347811665881
+    - 5727181341545238904
+    - 7169016413193450989
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2222
+      - 0.2222
+      'y':
+      - 0.0012
+      - 0.0012
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1948
+      - 0.1948
+      'y':
+      - -0.1327
+      - -0.1327
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2201
+      - 0.2201
+      'y':
+      - -0.3917
+      - -0.3917
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2828
+      - 0.2828
+      'y':
+      - 0.2915
+      - 0.2915
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f566389b8290ad2cb4c5a23fe54a4ebb0e7281f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_10_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": [
+              0.24661946334090354,
+              0.0036975880670563673,
+              1.1633499512434913
+            ],
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+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30224332401943566,
+            "gripper_z": 1.1568722570868148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2416278196080858,
+              -0.0011563600961673193,
+              1.1568722570868148
+            ],
+            "object_minus_gripper": [
+              0.004991643732817741,
+              0.004853948163223687,
+              0.006477694156676428
+            ],
+            "object_to_gripper_xy": 0.006962565613812284,
+            "object_to_gripper_z": 0.006477694156676428,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24661946334090354,
+              -0.020251856666556135,
+              1.1633499512434913
+            ],
+            "finger_b": [
+              0.23550843562558446,
+              0.0036975880670563673,
+              1.1633499512434913
+            ],
+            "finger_midpoint": [
+              0.241063949483244,
+              -0.008277134299749883,
+              1.1633499512434913
+            ],
+            "object_minus_finger_midpoint": [
+              0.005555513857659539,
+              0.01197472236680625,
+              0.0
+            ],
+            "finger_gap": 0.026401341631419953,
+            "fingertip_max_gap": 0.09126456896042429,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200670815709975,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633499512434913,
+            "object_top_z": 1.213360078237831,
+            "finger_top_clearance": 0.05001012699433982,
+            "fingertip_min_top_clearance": 0.015003038098301912,
+            "object_projection_between_fingers": 0.8228845413763874,
+            "object_to_finger_line_xy": 0.010079144761529272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048132284480212145,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7005309360948828,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2767815481608499,
+              -0.39256790029554267,
+              0.8515395779560265
+            ],
+            "target_position": [
+              0.26896556477019623,
+              -0.3937956084435994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007911817974383546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18361453933734823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395779560265,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572956219047469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08662914319141983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1510993111074865,
+            "release_required_pad_clearance": 0.05331457159570992,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6470648449575076,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008387506008148193,
+            "max_z_decrease": 0.008387506008148193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500237483133035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008387506008148193,
+            "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": 0.020909136485572098,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008387506008148193,
+            "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": 0.00838753983587293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1246654912829399,
+              -0.4500570595264435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1246654912829399,
+              -0.4500570595264435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1238483615613204,
+              -0.44945440382452323,
+              0.8037710713627518
+            ],
+            "closest_button": [
+              0.12467214465141296,
+              -0.45002430677413935,
+              0.7687830328941345
+            ],
+            "closest_ee_minus_button": [
+              -0.0008237830900925669,
+              0.000569902949616119,
+              0.03498803846861731
+            ],
+            "button_min_z_position": [
+              0.12467654794454575,
+              -0.450035959482193,
+              0.7684213519096375
+            ],
+            "min_active_finger_to_button": 0.1463608665841706,
+            "closest_active_finger": [
+              -0.0028829723596572876,
+              -0.5130719542503357,
+              0.8111861944198608
+            ],
+            "closest_active_finger_button": [
+              0.12466514855623244,
+              -0.4500565826892852,
+              0.7768053412437439
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12754812091588974,
+              -0.06301537156105047,
+              0.03438085317611694
+            ],
+            "min_contact_pad_to_button": 0.020909136485572098,
+            "closest_contact_pad": [
+              0.12467654794454575,
+              -0.4505724807701405,
+              0.7893236037854489
+            ],
+            "closest_contact_pad_button": [
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+              -0.450035959482193,
+              0.7684213519096375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005365212879475112,
+              0.020902251875811406
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "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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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1154ec88078da6511cb8f0a5c585ce4faa57aeabb9bcfbb92d94883657be94e",
+    "visual_seed": 622044411156852869,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfaa32171f44f0cfb261692d18bf9f85368974
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_12_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": [
+              0.2530050596881118,
+              -0.004135531264777522,
+              1.1628763570862404
+            ],
+            "current_z": 1.1628763570862404,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30176972986218487,
+            "gripper_z": 1.1562383141982764,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24790254261890854,
+              -0.008903828608069556,
+              1.1562383141982764
+            ],
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+              0.005102517069203283,
+              0.004768297343292033,
+              0.006638042887963991
+            ],
+            "object_to_gripper_xy": 0.006983719638957217,
+            "object_to_gripper_z": 0.006638042887963991,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2530050596881118,
+              -0.028392783724825194,
+              1.1628763570862404
+            ],
+            "finger_b": [
+              0.2423227123927481,
+              -0.004135531264777522,
+              1.1628763570862404
+            ],
+            "finger_midpoint": [
+              0.24766388604042996,
+              -0.016264157494801357,
+              1.1628763570862404
+            ],
+            "object_minus_finger_midpoint": [
+              0.005341173647681857,
+              0.012128626230023835,
+              0.0
+            ],
+            "finger_gap": 0.026505222893785544,
+            "fingertip_max_gap": 0.09119417023744908,
+            "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": 1.1628763570862404,
+            "object_top_z": 1.2128440489960632,
+            "finger_top_clearance": 0.049967691909822864,
+            "fingertip_min_top_clearance": 0.014990307572946893,
+            "object_projection_between_fingers": 0.8375684213953943,
+            "object_to_finger_line_xy": 0.009776352240006987,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809708511872454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6515739745242793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3947940441482144,
+              0.8515395728447781
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+              -0.3960859225943,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008072028990482545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830294634634828,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728447781,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534147582414205,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703196097884962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15155529329240802,
+            "release_required_pad_clearance": 0.05351598048942481,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0440321502547425,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008480310440063477,
+            "max_z_decrease": 0.008480310440063477,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501798724900686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008480310440063477,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0209068249280707,
+            "contact_point_source": "active_contact_pad_positions",
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+            "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": 0.008480310440063477,
+            "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": 0.008480434174080021,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1265398412942886,
+              -0.4523473680019378,
+              0.7768088579177856
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+            "button_final": [
+              0.1265398412942886,
+              -0.4523473680019378,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12678765989885443,
+              -0.4510789670064988,
+              0.8034499647906767
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+            "closest_button": [
+              0.12657269835472107,
+              -0.4523209929466247,
+              0.7684546709060669
+            ],
+            "closest_ee_minus_button": [
+              0.000214961544133363,
+              0.0012420259401259015,
+              0.03499529388460976
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+            "button_min_z_position": [
+              0.12657549977302548,
+              -0.45231860876083363,
+              0.7683285474777222
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+            "min_active_finger_to_button": 0.1451343598206401,
+            "closest_active_finger": [
+              -0.0005828067660331726,
+              -0.5133874416351318,
+              0.8109245300292969
+            ],
+            "closest_active_finger_button": [
+              0.12654051184654233,
+              -0.4523453414440154,
+              0.7766097187995911
+            ],
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f761615f505a665490a190ec21fd7ffd74948fc7d49c2d227a916c153db6ea3b",
+    "visual_seed": 1840066124096980526,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10503032e092ed4561f54a6729246557763594d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_14_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.24951151737739252,
+              0.0026115276326284078,
+              1.1617659241893312
+            ],
+            "current_z": 1.1617659241893312,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3006594757792098,
+            "gripper_z": 1.1553106504509685,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24466749987696823,
+              -0.00239684650826405,
+              1.1553106504509685
+            ],
+            "object_minus_gripper": [
+              0.004844017500424291,
+              0.005008374140892458,
+              0.006455273738362743
+            ],
+            "object_to_gripper_xy": 0.006967662239200251,
+            "object_to_gripper_z": 0.006455273738362743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24951151737739252,
+              -0.021276421122997477,
+              1.1617659241893312
+            ],
+            "finger_b": [
+              0.23823788779611027,
+              0.0026115276326284078,
+              1.1617659241893312
+            ],
+            "finger_midpoint": [
+              0.2438747025867514,
+              -0.009332446745184535,
+              1.1617659241893312
+            ],
+            "object_minus_finger_midpoint": [
+              0.005636814790641126,
+              0.011943974377812944,
+              0.0
+            ],
+            "finger_gap": 0.02641455696557053,
+            "fingertip_max_gap": 0.09110115720121287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013207278482785264,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617659241893312,
+            "object_top_z": 1.211830673158099,
+            "finger_top_clearance": 0.05006474896876778,
+            "fingertip_min_top_clearance": 0.015019424690630367,
+            "object_projection_between_fingers": 0.8178450991992716,
+            "object_to_finger_line_xy": 0.010195283081166066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048050578600606436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5799012804402343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2805706345776459,
+              -0.3929494643672118,
+              0.8515396113287784
+            ],
+            "target_position": [
+              0.27219413089126726,
+              -0.3942909736996805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008483245917513881,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455069595896378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396113287784,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517520795312745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594873103065136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349044066295264,
+            "release_required_pad_clearance": 0.05297436551532568,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9835654123334756,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008247196674346924,
+            "max_z_decrease": 0.008247196674346924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035015410946549246,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008247196674346924,
+            "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": 0.021011495888295494,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008247196674346924,
+            "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": 0.008247247911299865,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12789405882358548,
+              -0.45055243372917164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12789405882358548,
+              -0.45055243372917164,
+              0.7768088579177856
+            ],
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8db5823cda0b7a6edbd7b9db21f452f5e4709debe94b2fdc064af3c151b83b10",
+    "visual_seed": 2618805761227278452,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8323570b27e6ede9a8139970ec8d1a983843b2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_16_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2541870272797578,
+              -0.003564910827452184,
+              1.1621118338909322
+            ],
+            "current_z": 1.1621118338909322,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.301005147062232,
+            "gripper_z": 1.155332462569131,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24920252701873796,
+              -0.008286901295410334,
+              1.155332462569131
+            ],
+            "object_minus_gripper": [
+              0.00498450026101982,
+              0.00472199046795815,
+              0.006779371321801175
+            ],
+            "object_to_gripper_xy": 0.00686603501531956,
+            "object_to_gripper_z": 0.006779371321801175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2541870272797578,
+              -0.027709197736514934,
+              1.1621118338909322
+            ],
+            "finger_b": [
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+              -0.003564910827452184,
+              1.1621118338909322
+            ],
+            "finger_midpoint": [
+              0.24886441354035843,
+              -0.01563705428198356,
+              1.1621118338909322
+            ],
+            "object_minus_finger_midpoint": [
+              0.005322613739399351,
+              0.012072143454531375,
+              0.0
+            ],
+            "finger_gap": 0.026386880422333163,
+            "fingertip_max_gap": 0.0912389822849945,
+            "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": 1.1621118338909322,
+            "object_top_z": 1.2121244229949593,
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+            "fingertip_min_top_clearance": 0.015003776731208151,
+            "object_projection_between_fingers": 0.8372452041172302,
+            "object_to_finger_line_xy": 0.009740500671038703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811949114249725,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7274931532898998,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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": [
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27905965608191763,
+              -0.38660630363145915,
+              0.8515395741817224
+            ],
+            "target_position": [
+              0.27172075192988254,
+              -0.38747960553657346,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007390681319758965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18308512086921747,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395741817224,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570525109591345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754540747247734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15070608764430388,
+            "release_required_pad_clearance": 0.05377270373623867,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5546571241438722,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008137166500091553,
+            "max_z_decrease": 0.008137166500091553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503710964492427,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008137166500091553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675734026749,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13617488386161142,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29842d5f23e855ebcea18f0d3dc579a935ee3e0b9f6cacb61222df55c87ed5cd",
+    "visual_seed": 4852742714659323888,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5afcfaa52311e67cebe02c053ebcba82f524b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_17_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.254503255137843,
+              -0.005304479837101566,
+              1.1618557820649527
+            ],
+            "current_z": 1.1618557820649527,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3007492740501867,
+            "gripper_z": 1.1550350067898643,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2496757353696108,
+              -0.010104259388841602,
+              1.1550350067898643
+            ],
+            "object_minus_gripper": [
+              0.004827519768232202,
+              0.004799779551740036,
+              0.006820775275088398
+            ],
+            "object_to_gripper_xy": 0.006807556893480544,
+            "object_to_gripper_z": 0.006820775275088398,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.254503255137843,
+              -0.02917524683065246,
+              1.1618557820649527
+            ],
+            "finger_b": [
+              0.2435182190746808,
+              -0.005304479837101566,
+              1.1618557820649527
+            ],
+            "finger_midpoint": [
+              0.2490107371062619,
+              -0.01723986333387701,
+              1.1618557820649527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492518031581101,
+              0.011935383496775444,
+              0.0
+            ],
+            "finger_gap": 0.026277072404843217,
+            "fingertip_max_gap": 0.09116525892916433,
+            "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": 1.1618557820649527,
+            "object_top_z": 1.2118791267956621,
+            "finger_top_clearance": 0.05002334473070946,
+            "fingertip_min_top_clearance": 0.015007003419212838,
+            "object_projection_between_fingers": 0.8252371902085587,
+            "object_to_finger_line_xy": 0.009979088699057947,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048082629464582166,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5883906793522555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2848430441236494,
+              -0.38703089151170916,
+              0.851539583753719
+            ],
+            "target_position": [
+              0.2763191638545527,
+              -0.388387894332011,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008631221900530865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18647870163957792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539583753719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512792654754435,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500695229933151,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15553068802557735,
+            "release_required_pad_clearance": 0.05250347614966576,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912935513160234,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26317983234225384,
+              0.13197270150111934,
+              0.8331812163248854
+            ],
+            "target_position": [
+              0.27329660507659176,
+              0.17846378455066347,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047579090929502355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16580823410778436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331812163248854,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674787353946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13471653313325876,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5bbca81a37fd830d868fe8df954855391318c865af3edb6ad9027a3047f8625",
+    "visual_seed": 1260531126231707381,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d34cde9aa4fbbfc10d020bf00f7651b6f0789a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_18_success.json
@@ -0,0 +1,2021 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24869422941116412,
+              -0.004194571199116228,
+              1.1617338491823292
+            ],
+            "current_z": 1.1617338491823292,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3006273411675632,
+            "gripper_z": 1.1552288868138176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24355583380704846,
+              -0.009048530273650601,
+              1.1552288868138176
+            ],
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+              0.005138395604115664,
+              0.004853959074534373,
+              0.006504962368511613
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+            "object_to_gripper_xy": 0.007068523755470429,
+            "object_to_gripper_z": 0.006504962368511613,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24869422941116412,
+              -0.02855915527260952,
+              1.1617338491823292
+            ],
+            "finger_b": [
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+              -0.004194571199116228,
+              1.1617338491823292
+            ],
+            "finger_midpoint": [
+              0.24333809025694608,
+              -0.016376863235862876,
+              1.1617338491823292
+            ],
+            "object_minus_finger_midpoint": [
+              0.005356139154218037,
+              0.012182292036746648,
+              0.0
+            ],
+            "finger_gap": 0.026615519225288712,
+            "fingertip_max_gap": 0.09124285782107303,
+            "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": 1.1617338491823292,
+            "object_top_z": 1.211680759339321,
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+            "object_projection_between_fingers": 0.8380079100264913,
+            "object_to_finger_line_xy": 0.009806316504866837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048121428910536515,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7133748151494451,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28059459500794137,
+              -0.38923826762378605,
+              0.8515395747690278
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+              -0.39042907613151756,
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829681319105305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395747690278,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557066842118869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08757345467179344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15087119984446917,
+            "release_required_pad_clearance": 0.05378672733589672,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5826921179834854,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27919367669290523,
+            -0.3912182588919668,
+            1.0434360156958093
+          ],
+          "object_origin_world": [
+            0.27919367669290523,
+            -0.3912182588919668,
+            1.0434360156958093
+          ],
+          "frame_world": [
+            0.27919225774962975,
+            -0.39122758706374106,
+            1.043311398596985
+          ],
+          "center_minus_frame": [
+            1.4189432754885267e-06,
+            9.328171774236615e-06,
+            0.00012461709882427563
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2631809625755342,
+              0.12793018645671436,
+              0.8341882289310298
+            ],
+            "target_position": [
+              0.2719653155217265,
+              0.17506731082611815,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047948653270972245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16878021130562867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8341882289310298,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673176162971,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13721897474980443,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff55ea02b1f2aaf1754493135ac128d89459bb952dc5270b0be41ef8952bd310",
+    "visual_seed": 1037896489708391821,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab301f16a446eca5e50569e3dc3d637cf5a828ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_1_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.25387685313342234,
+              -0.005480870834765748,
+              1.1639424124868225
+            ],
+            "current_z": 1.1639424124868225,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3028358448674118,
+            "gripper_z": 1.1574176187256522,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24889507398194105,
+              -0.010418826863083791,
+              1.1574176187256522
+            ],
+            "object_minus_gripper": [
+              0.0049817791514812915,
+              0.004937956028318043,
+              0.006524793761170322
+            ],
+            "object_to_gripper_xy": 0.00701438046100553,
+            "object_to_gripper_z": 0.006524793761170322,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25387685313342234,
+              -0.029352788682810122,
+              1.1639424124868225
+            ],
+            "finger_b": [
+              0.24254586720889557,
+              -0.005480870834765748,
+              1.1639424124868225
+            ],
+            "finger_midpoint": [
+              0.24821136017115897,
+              -0.017416829758787937,
+              1.1639424124868225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005665492962263374,
+              0.011935958924022189,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09152291101713925,
+            "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": 1.1639424124868225,
+            "object_top_z": 1.2139498914125562,
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+            "object_projection_between_fingers": 0.8161268059298993,
+            "object_to_finger_line_xy": 0.010236382869971389,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048261455508569626,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8519606102829913,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2864169619708227,
+              -0.3859223556358894,
+              0.8515395111536508
+            ],
+            "target_position": [
+              0.27805087636281517,
+              -0.38718433484094494,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008460731641796932,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388979989060547,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395111536508,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525081148267013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853584899444929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15262962423594664,
+            "release_required_pad_clearance": 0.05267924497224645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4149581107997123,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2850886806153988,
+            -0.38453134718922805,
+            1.0433768711759093
+          ],
+          "object_origin_world": [
+            0.2850886806153988,
+            -0.38453134718922805,
+            1.0433768711759093
+          ],
+          "frame_world": [
+            0.2850871684401813,
+            -0.3845403212770498,
+            1.0432515020513804
+          ],
+          "center_minus_frame": [
+            1.5121752175439873e-06,
+            8.974087821744803e-06,
+            0.0001253691245288735
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.262275273805431,
+              0.13045245918936993,
+              0.8338559077930335
+            ],
+            "target_position": [
+              0.2721152230502233,
+              0.17688278376420313,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04746155961685676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16864840796697883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338559077930335,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670593295267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13799790974874773,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ea632e50630bb647179dc107f812e9d16ae9493b9edbe48088b28d8d6fba57f",
+    "visual_seed": 64158135003794359,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab7329038fc97c6868128859b971d65adbc9a30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_21_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.253580545521254,
+              0.00034707181802766385,
+              1.162379985758895
+            ],
+            "current_z": 1.162379985758895,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30127329893019483,
+            "gripper_z": 1.1556357407655016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24856464467325942,
+              -0.0044202336528059855,
+              1.1556357407655016
+            ],
+            "object_minus_gripper": [
+              0.005015900847994553,
+              0.004767305470833649,
+              0.006744244993393433
+            ],
+            "object_to_gripper_xy": 0.006920004535341933,
+            "object_to_gripper_z": 0.006744244993393433,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.253580545521254,
+              -0.023770056404189804,
+              1.162379985758895
+            ],
+            "finger_b": [
+              0.242794693659328,
+              0.00034707181802766385,
+              1.162379985758895
+            ],
+            "finger_midpoint": [
+              0.24818761959029098,
+              -0.01171149229308107,
+              1.162379985758895
+            ],
+            "object_minus_finger_midpoint": [
+              0.005392925930962994,
+              0.012058564111108734,
+              0.0
+            ],
+            "finger_gap": 0.026419130834951603,
+            "fingertip_max_gap": 0.09115979954883655,
+            "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": 1.162379985758895,
+            "object_top_z": 1.2123380624281515,
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+            "fingertip_min_top_clearance": 0.014987423000776899,
+            "object_projection_between_fingers": 0.8333244675690539,
+            "object_to_finger_line_xy": 0.009846038235132906,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048079899774418275,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6498667177232431,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27963285952745975,
+              -0.39409263939146344,
+              0.8515394935277547
+            ],
+            "target_position": [
+              0.2717288808637279,
+              -0.39518494354643846,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007979098137239854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844511931597465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394935277547,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518621258494117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553636348910924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153288108716997,
+            "release_required_pad_clearance": 0.052768181744554624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2790909092803406,
+            -0.39236000385203035,
+            1.0434408735524905
+          ],
+          "object_origin_world": [
+            0.2790909092803406,
+            -0.39236000385203035,
+            1.0434408735524905
+          ],
+          "frame_world": [
+            0.2790895514150762,
+            -0.39236915283162066,
+            1.0433160626322233
+          ],
+          "center_minus_frame": [
+            1.357865264395297e-06,
+            9.148979590312134e-06,
+            0.000124810920267171
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26214968193671334,
+              0.13219510390532935,
+              0.8334005414328355
+            ],
+            "target_position": [
+              0.2728389939025197,
+              0.1780163052734421,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04705150247462314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16688006934271832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334005414328355,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672186160544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365124037122956,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5e40bfe863fa6a524537fc139978f65f7481c1099bb8502f1ecaaac74339204",
+    "visual_seed": 579439917236049577,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a56439a9b18dd42b2e35c00c92a8703bd5d9565
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_22_success.json
@@ -0,0 +1,2015 @@
+{
+  "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",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25000325926739064,
+              0.0026009891449080107,
+              1.1638109743086815
+            ],
+            "current_z": 1.1638109743086815,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.3027043470846258,
+            "gripper_z": 1.1571734606060766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2450646152920132,
+              -0.00223780147825256,
+              1.1571734606060766
+            ],
+            "object_minus_gripper": [
+              0.004938643975377438,
+              0.004838790623160571,
+              0.0066375137026049025
+            ],
+            "object_to_gripper_xy": 0.006914050839436931,
+            "object_to_gripper_z": 0.0066375137026049025,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25000325926739064,
+              -0.021377434919831302,
+              1.1638109743086815
+            ],
+            "finger_b": [
+              0.23899829483433066,
+              0.0026009891449080107,
+              1.1638109743086815
+            ],
+            "finger_midpoint": [
+              0.24450077705086065,
+              -0.009388222887461646,
+              1.1638109743086815
+            ],
+            "object_minus_finger_midpoint": [
+              0.005502482216529991,
+              0.011989212032369656,
+              0.0
+            ],
+            "finger_gap": 0.026383215550826716,
+            "fingertip_max_gap": 0.09132478232857225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013191607775413358,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638109743086815,
+            "object_top_z": 1.2138609287396247,
+            "finger_top_clearance": 0.05004995443094318,
+            "fingertip_min_top_clearance": 0.01501498632928292,
+            "object_projection_between_fingers": 0.8260109826740203,
+            "object_to_finger_line_xy": 0.01000187803055783,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048162391164286125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6515451240896227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2793271838039413,
+              -0.38739359123626743,
+              0.851539501690242
+            ],
+            "target_position": [
+              0.27092307925598774,
+              -0.38893641738624524,
+              0.8084375599031817
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+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006016179820535818,
+              "rod_tip_xy_max_step": 3.261788702690417e-05,
+              "rod_tip_xy_range": 0.0006016107310300226,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2789612008393522,
+            -0.38587421973184,
+            1.0434782464814416
+          ],
+          "object_origin_world": [
+            0.2789612008393522,
+            -0.38587421973184,
+            1.0434782464814416
+          ],
+          "frame_world": [
+            0.27895975957851094,
+            -0.38588293869947227,
+            1.0433550811901773
+          ],
+          "center_minus_frame": [
+            1.4412608412839312e-06,
+            8.718967632270758e-06,
+            0.00012316529126432663
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26416292391682134,
+              0.13624938414679078,
+              0.8332410109642487
+            ],
+            "target_position": [
+              0.27573203572616256,
+              0.1829672017699192,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812898120181777,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16709468398271654,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332410109642487,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668408785868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13683559445732096,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc2054a0b545654acce7386f49384a65d553c69767752c1fa887c8ed70ac1449",
+    "visual_seed": 6489174703017815512,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e64129e6cb3b23b8fd94ee8f1e3fdba0bace4b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_23_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": [
+              0.24743643807122628,
+              -0.002125620783793334,
+              1.1635276783032942
+            ],
+            "current_z": 1.1635276783032942,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30242105107923867,
+            "gripper_z": 1.1570299312608163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24249541355917414,
+              -0.006900026220173799,
+              1.1570299312608163
+            ],
+            "object_minus_gripper": [
+              0.004941024512052139,
+              0.004774405436380465,
+              0.006497747042477853
+            ],
+            "object_to_gripper_xy": 0.006870856605958198,
+            "object_to_gripper_z": 0.006497747042477853,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24743643807122628,
+              -0.02609232779780478,
+              1.1635276783032942
+            ],
+            "finger_b": [
+              0.23651592458033807,
+              -0.002125620783793334,
+              1.1635276783032942
+            ],
+            "finger_midpoint": [
+              0.2419761813257822,
+              -0.014108974290799057,
+              1.1635276783032942
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460256745444092,
+              0.011983353507005723,
+              0.0
+            ],
+            "finger_gap": 0.026337438372023517,
+            "fingertip_max_gap": 0.0912572530967144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168719186011753,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635276783032942,
+            "object_top_z": 1.2135774418750138,
+            "finger_top_clearance": 0.05004976357171964,
+            "fingertip_min_top_clearance": 0.015014929071515859,
+            "object_projection_between_fingers": 0.8280749914451716,
+            "object_to_finger_line_xy": 0.0099375172171905,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481286265483572,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.734309249978563,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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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+                  -0.0006650531149283712,
+                  0.002993503956009669
+                ],
+                "rod_tip_xy": [
+                  0.2831392340368716,
+                  -0.3888907612158363
+                ],
+                "target_mouth_xy": [
+                  0.28380428715179995,
+                  -0.391884265171846
+                ],
+                "gripper_position": [
+                  0.2831309058798708,
+                  -0.3888942098490182,
+                  1.0016571538181696
+                ],
+                "rod_tip_xy_dist": 0.003066490107651004,
+                "target_xy_drift": 6.790458543822441e-08,
+                "depth": 0.0194637959446039,
+                "bottom_clearance": 0.07997682311569998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006733819477088843,
+                  0.002989993788760248
+                ],
+                "rod_tip_xy": [
+                  0.28313090587987066,
+                  -0.38889420984901824
+                ],
+                "target_mouth_xy": [
+                  0.28380428782757955,
+                  -0.3918842036377785
+                ],
+                "gripper_position": [
+                  0.2831226794896545,
+                  -0.38889730101434933,
+                  1.0015177879508013
+                ],
+                "rod_tip_xy_dist": 0.0030648827227685357,
+                "target_xy_drift": 2.9397515668101125e-08,
+                "depth": 0.019602663798855224,
+                "bottom_clearance": 0.07983791297613918,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006035675390409776,
+              "rod_tip_xy_max_step": 3.27686791100341e-05,
+              "rod_tip_xy_range": 0.0006035613249403448,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2827263938597816,
+            -0.3903471777660301,
+            1.0433468090709528
+          ],
+          "object_origin_world": [
+            0.2827263938597816,
+            -0.3903471777660301,
+            1.0433468090709528
+          ],
+          "frame_world": [
+            0.28275047956272004,
+            -0.39034365578809,
+            1.0436409830125017
+          ],
+          "center_minus_frame": [
+            -2.4085702938436704e-05,
+            -3.521977940124099e-06,
+            -0.0002941739415489586
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25727231854139554,
+              0.131329832427663,
+              0.8337891320333971
+            ],
+            "target_position": [
+              0.26786557831288343,
+              0.177764960451553,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04762812474978705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16549276051752235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337891320333971,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671463435575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13525369156522452,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37abb1e1d2c2408d3100700b735a28e0fc7c3e27e09fd7d01deb68e9860e3d7d",
+    "visual_seed": 4206635432440425502,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4a8c9617608d762efe2be897fd492b644abfbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_24_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24609843782116805,
+              0.0034387145445097887,
+              1.1646434373939978
+            ],
+            "current_z": 1.1646434373939978,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30353669096065283,
+            "gripper_z": 1.158227353507175,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24094047033881946,
+              -0.0014116549376570892,
+              1.158227353507175
+            ],
+            "object_minus_gripper": [
+              0.005157967482348591,
+              0.004850369482166878,
+              0.006416083886822799
+            ],
+            "object_to_gripper_xy": 0.007080304560010201,
+            "object_to_gripper_z": 0.006416083886822799,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24609843782116805,
+              -0.020809315669075634,
+              1.1646434373939978
+            ],
+            "finger_b": [
+              0.2352289974726397,
+              0.0034387145445097887,
+              1.1646434373939978
+            ],
+            "finger_midpoint": [
+              0.24066371764690386,
+              -0.008685300562282922,
+              1.1646434373939978
+            ],
+            "object_minus_finger_midpoint": [
+              0.00543472017426419,
+              0.01212401510679271,
+              0.0
+            ],
+            "finger_gap": 0.026572762421870403,
+            "fingertip_max_gap": 0.09124721771040725,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013286381210935205,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646434373939978,
+            "object_top_z": 1.2146047435483798,
+            "finger_top_clearance": 0.04996130615438199,
+            "fingertip_min_top_clearance": 0.01498839184631463,
+            "object_projection_between_fingers": 0.8326826576679311,
+            "object_to_finger_line_xy": 0.009918521597098148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812360885520363,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6974128715256097,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001033197746701131,
+                  0.0011187155872400267
+                ],
+                "rod_tip_xy": [
+                  0.27799440003931114,
+                  -0.3934927984504638
+                ],
+                "target_mouth_xy": [
+                  0.27902759778601227,
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+                "gripper_position": [
+                  0.2779862147317722,
+                  -0.39349656183451287,
+                  1.001919201302056
+                ],
+                "rod_tip_xy_dist": 0.0015228335919994975,
+                "target_xy_drift": 4.231190428244404e-08,
+                "depth": 0.01920299361882083,
+                "bottom_clearance": 0.08023755384345976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001041382571968008,
+                  0.0011149506230376804
+                ],
+                "rod_tip_xy": [
+                  0.2779862147317722,
+                  -0.393496561834513
+                ],
+                "target_mouth_xy": [
+                  0.2790275973037402,
+                  -0.39461151245755066
+                ],
+                "gripper_position": [
+                  0.2779782408048732,
+                  -0.39349993192803817,
+                  1.0017809699185962
+                ],
+                "rod_tip_xy_dist": 0.0015256449629618338,
+                "target_xy_drift": 4.0846191586945735e-08,
+                "depth": 0.01934068081568585,
+                "bottom_clearance": 0.0800999074222376,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000598547894272436,
+              "rod_tip_xy_max_step": 3.260410052774409e-05,
+              "rod_tip_xy_range": 0.0005985431243914118,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2775587995513685,
+            -0.39483888746950424,
+            1.0434355525839174
+          ],
+          "object_origin_world": [
+            0.2775587995513685,
+            -0.39483888746950424,
+            1.0434355525839174
+          ],
+          "frame_world": [
+            0.27755737148373916,
+            -0.3948482802717772,
+            1.043310926111287
+          ],
+          "center_minus_frame": [
+            1.4280676293165762e-06,
+            9.392802272967238e-06,
+            0.00012462647263045135
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25655762708161073,
+              0.13668146727134925,
+              0.8340358214960503
+            ],
+            "target_position": [
+              0.26765220703440823,
+              0.18237109499729554,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04701735622155478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.166909871135013,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340358214960503,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675824959355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.136145767188698,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "659e019ea2c18ea3ba0bba7da54ce8f9174d4f7e93c9746f41be35c2d475976e",
+    "visual_seed": 5159240095286530003,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f764889d24480b9316f7a852646d158cea7c3e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_27_success.json
@@ -0,0 +1,2027 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25325486526329133,
+              0.0016393475628430363,
+              1.1614198119906145
+            ],
+            "current_z": 1.1614198119906145,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30031306555726955,
+            "gripper_z": 1.1547045312355144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24845948156332284,
+              -0.003248664356884007,
+              1.1547045312355144
+            ],
+            "object_minus_gripper": [
+              0.004795383699968486,
+              0.004888011919727043,
+              0.006715280755100084
+            ],
+            "object_to_gripper_xy": 0.006847507966940754,
+            "object_to_gripper_z": 0.006715280755100084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25325486526329133,
+              -0.02210045500961873,
+              1.1614198119906145
+            ],
+            "finger_b": [
+              0.24200851028262316,
+              0.0016393475628430363,
+              1.1614198119906145
+            ],
+            "finger_midpoint": [
+              0.24763168777295724,
+              -0.010230553723387848,
+              1.1614198119906145
+            ],
+            "object_minus_finger_midpoint": [
+              0.005623177490334086,
+              0.011869901286230885,
+              0.0
+            ],
+            "finger_gap": 0.026268968889750166,
+            "fingertip_max_gap": 0.0910684677498074,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013134484444875085,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614198119906145,
+            "object_top_z": 1.2114915565018443,
+            "finger_top_clearance": 0.050071744511229754,
+            "fingertip_min_top_clearance": 0.015021523353368926,
+            "object_projection_between_fingers": 0.8167105269618242,
+            "object_to_finger_line_xy": 0.010163560207536703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480342338749037,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.568700367841581,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "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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+              },
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+                "rod_tip_xy": [
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+                "target_xy_drift": 4.025499998529369e-08,
+                "depth": 0.019544921191745668,
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+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
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+                  0.000694617065364278
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+                "rod_tip_xy": [
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+                  -0.38944650916441836
+                ],
+                "target_mouth_xy": [
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+                "gripper_position": [
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+                  -0.38952089200134177,
+                  1.0009481164017795
+                ],
+                "rod_tip_xy_dist": 0.001461437508566938,
+                "target_xy_drift": 4.12550358770381e-08,
+                "depth": 0.01970229355049402,
+                "bottom_clearance": 0.07973823981799288,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006038444454650419,
+              "rod_tip_xy_max_step": 3.2981872126189796e-05,
+              "rod_tip_xy_range": 0.0006038389459858016,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28020894616408526,
+            -0.3907867491337167,
+            1.0433544798593073
+          ],
+          "object_origin_world": [
+            0.28020894616408526,
+            -0.3907867491337167,
+            1.0433544798593073
+          ],
+          "frame_world": [
+            0.28023313953454043,
+            -0.3907836257472645,
+            1.0436496483871065
+          ],
+          "center_minus_frame": [
+            -2.4193370455172225e-05,
+            -3.123386452197341e-06,
+            -0.00029516852779920555
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2646271489449157,
+              0.13423048188895972,
+              0.8333798184498987
+            ],
+            "target_position": [
+              0.274428708471019,
+              0.18092323718772008,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04771041779877493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16899093763171597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333798184498987,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676486489849,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376775508250236,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4331fd563cb1548fabeb9e521d98452de4578031aca82b45e8f8df2cf6454d2",
+    "visual_seed": 2233836818999713697,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11bf632fe99ea3121d959604d2e1f9c8bd207f25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_28_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2476084045561207,
+              0.00012966896220701837,
+              1.1625037771914115
+            ],
+            "current_z": 1.1625037771914115,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30139703075806645,
+            "gripper_z": 1.1562134112316402,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24260134699535935,
+              -0.00478030742990343,
+              1.1562134112316402
+            ],
+            "object_minus_gripper": [
+              0.005007057560761363,
+              0.004909976392110448,
+              0.006290365959771282
+            ],
+            "object_to_gripper_xy": 0.007012737952316446,
+            "object_to_gripper_z": 0.006290365959771282,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2476084045561207,
+              -0.023845226806939693,
+              1.1625037771914115
+            ],
+            "finger_b": [
+              0.23643166063631177,
+              0.00012966896220701837,
+              1.1625037771914115
+            ],
+            "finger_midpoint": [
+              0.24202003259621624,
+              -0.011857778922366337,
+              1.1625037771914115
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558837195990447,
+              0.011987447884573356,
+              0.0
+            ],
+            "finger_gap": 0.026452130949895795,
+            "fingertip_max_gap": 0.09142242178627269,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013226065474947897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625037771914115,
+            "object_top_z": 1.2125485329888361,
+            "finger_top_clearance": 0.05004475579742462,
+            "fingertip_min_top_clearance": 0.015013426739227386,
+            "object_projection_between_fingers": 0.8214707941553007,
+            "object_to_finger_line_xy": 0.010130044759850208,
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+              },
+              {
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+                "rod_tip_xy": [
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+                  1.0015264792583916
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+                "depth": 0.019594776086438004,
+                "bottom_clearance": 0.07984588273861515,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005985754043104738,
+              "rod_tip_xy_max_step": 3.2494676076673294e-05,
+              "rod_tip_xy_range": 0.0005985654331310231,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2832182400639002,
+            -0.38825517557515965,
+            1.0434322031198098
+          ],
+          "object_origin_world": [
+            0.2832182400639002,
+            -0.38825517557515965,
+            1.0434322031198098
+          ],
+          "frame_world": [
+            0.2832169232835542,
+            -0.3882640692423439,
+            1.0433063987970026
+          ],
+          "center_minus_frame": [
+            1.3167803459834815e-06,
+            8.8936671842621e-06,
+            0.00012580432280717702
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25900050978269623,
+              0.13468060901519213,
+              0.8334842572318778
+            ],
+            "target_position": [
+              0.26853045605253556,
+              0.1817273171077528,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800221472237129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16841932430507126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334842572318778,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567642362995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13765661030112175,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "992be7c688fb978b97d56ad124dd5693c75e662b2d518eafc5416a910d241970",
+    "visual_seed": 6546061299724592065,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63df8befa46d98307ccfc7f0f76378ff529ad679
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_32_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2519405177891739,
+              -0.0017583197129881177,
+              1.1611570217213458
+            ],
+            "current_z": 1.1611570217213458,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.3000502156833561,
+            "gripper_z": 1.1546792467893991,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24687883163348354,
+              -0.006614443185111174,
+              1.1546792467893991
+            ],
+            "object_minus_gripper": [
+              0.005061686155690387,
+              0.004856123472123056,
+              0.006477774931946678
+            ],
+            "object_to_gripper_xy": 0.007014456637203783,
+            "object_to_gripper_z": 0.006477774931946678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2519405177891739,
+              -0.026078671411607277,
+              1.1611570217213458
+            ],
+            "finger_b": [
+              0.24124344428100614,
+              -0.0017583197129881177,
+              1.1611570217213458
+            ],
+            "finger_midpoint": [
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006013547557649872,
+              "rod_tip_xy_max_step": 3.2687579777502125e-05,
+              "rod_tip_xy_range": 0.0006013472057101457,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27823333046617704,
+            -0.3937076292586569,
+            1.0434001194962763
+          ],
+          "object_origin_world": [
+            0.27823333046617704,
+            -0.3937076292586569,
+            1.0434001194962763
+          ],
+          "frame_world": [
+            0.2782319434384932,
+            -0.39371668553144057,
+            1.0432754986023034
+          ],
+          "center_minus_frame": [
+            1.387027683819042e-06,
+            9.05627278369181e-06,
+            0.00012462089397291543
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26101285432044874,
+              0.1320693945835346,
+              0.8333238672660779
+            ],
+            "target_position": [
+              0.271110957073196,
+              0.17914645542483754,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04814791103112139,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16838577747426212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333238672660779,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567203503624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13817062423329385,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "576b71f7af313b6ba986d8ea125a7e77cb17fa803fbf2868f45fab7d49bd6ad2",
+    "visual_seed": 5178996015522358655,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..244d7184f1d38890011fa26ff49d8510a4477feb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_34_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24713536064513006,
+              -0.00622543253468753,
+              1.1646199104298944
+            ],
+            "current_z": 1.1646199104298944,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30351322360119426,
+            "gripper_z": 1.1582959144564462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006041891922007641,
+              "rod_tip_xy_max_step": 3.270920314149517e-05,
+              "rod_tip_xy_range": 0.0006041802128116951,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28518357348903317,
+            -0.38641026827542946,
+            1.0433411281272973
+          ],
+          "object_origin_world": [
+            0.28518357348903317,
+            -0.38641026827542946,
+            1.0433411281272973
+          ],
+          "frame_world": [
+            0.28520768560858867,
+            -0.38640721488009533,
+            1.0436353942016705
+          ],
+          "center_minus_frame": [
+            -2.411211955549719e-05,
+            -3.053395334129405e-06,
+            -0.0002942660743732173
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2626664171018035,
+              0.13186219925943213,
+              0.8337000600286489
+            ],
+            "target_position": [
+              0.27186800764438057,
+              0.1786740715483196,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047707658250058294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688698033215702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337000600286489,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672359220688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13719089741881701,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90fc2029c897fb80930313c3b2c3d32433afaaff076c5f1e8dfc4df746684985",
+    "visual_seed": 1621962577919984206,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1255af66b629e7fa0527e64b3b10db60b7bd2c72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_36_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              -0.006810071785633099,
+              1.1639207498892712
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+            "lift_margin": 0.30281400345592613,
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+              -0.011663494103507907,
+              1.1575339469767136
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+              0.004853422317874808,
+              0.006386802912557554
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+            "object_to_gripper_z": 0.006386802912557554,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.030964562527287583,
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+              -0.006810071785633099,
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+              -0.018887317156460342,
+              1.1639207498892712
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+              0.012077245370827243,
+              0.0
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8296269548905287,
+            "object_to_finger_line_xy": 0.009970072774633737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812416170124188,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6847068255265926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "gripper_dist": 0.18689213958038808,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545775037398812,
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+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008433282375335693,
+            "max_z_decrease": 0.008433282375335693,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035023069105258264,
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+            "required_contacted_press_frames": 2,
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+            "max_contacted_z_stable_frames": 79,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008433282375335693,
+            "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": 0.00843331406670489,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4520260095596313,
+              0.7768088579177856
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+            "button_final": [
+              0.12543712556362152,
+              -0.4520260095596313,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12465264276975221,
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+              0.803366470254642
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+            "closest_button": [
+              0.12544256448745728,
+              -0.45200353860855097,
+              0.76837557554245
+            ],
+            "closest_ee_minus_button": [
+              -0.000789921717705061,
+              0.0012761976617602921,
+              0.03499089471219208
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+            "button_min_z_position": [
+              0.12544256448745728,
+              -0.45200353860855097,
+              0.76837557554245
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+            "min_active_finger_to_button": 0.1460421381203139,
+            "closest_active_finger": [
+              -0.002284720540046692,
+              -0.5139461755752563,
+              0.8111364841461182
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+            "closest_active_finger_button": [
+              0.12544052302837372,
+              -0.4520226716995239,
+              0.7767846584320068
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06192350387573242,
+              0.03435182571411133
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+            "min_contact_pad_to_button": 0.020903631558122138,
+            "closest_contact_pad": [
+              0.12544256448745728,
+              -0.45200353860855097,
+              0.7892792071005721
+            ],
+            "closest_contact_pad_button": [
+              0.12544256448745728,
+              -0.45200353860855097,
+              0.76837557554245
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020903631558122138
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99f462455c0b2de4ae5f6fb46d6cf83e527c1302d436eb5b33a50685a4d45a82",
+    "visual_seed": 3210695798324192583,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54486a60318bc6f208d2a1859d7f0fd1e0318115
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_37_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25450542534391707,
+              0.0010687699430329263,
+              1.1617677774632182
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+            "current_z": 1.1617677774632182,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3006612694484522,
+            "gripper_z": 1.1552110559867566,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.0038934338378210226,
+              1.1552110559867566
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+              0.005318708673135331,
+              0.004962203780853949,
+              0.006556721476461691
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+            "object_to_gripper_z": 0.006556721476461691,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25450542534391707,
+              -0.023413337480945404,
+              1.1617677774632182
+            ],
+            "finger_b": [
+              0.24362073405987578,
+              0.0010687699430329263,
+              1.1617677774632182
+            ],
+            "finger_midpoint": [
+              0.24906307970189642,
+              -0.011172283768956239,
+              1.1617677774632182
+            ],
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+              0.012241053711989166,
+              0.0
+            ],
+            "finger_gap": 0.026792724539846623,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617677774632182,
+            "object_top_z": 1.2117097294804224,
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+            "object_projection_between_fingers": 0.8349564814643633,
+            "object_to_finger_line_xy": 0.009945990408568762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786638215300687,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3174282083739956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2848561170295363,
+              -0.38649538936861083,
+              0.8515395978196003
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+              -0.3880036709242369,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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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_fingertip_min_gap": 0.08769824768368138,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160689699035493,
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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": 2.7075710328981812,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
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+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008262276649475098,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02110084010853083,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
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+            "max_contact_point_stable_frames": 121,
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+            "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": 0.00826237363604249,
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+            "button_start": [
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+            "closest_ee": [
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+              0.00137950435070186,
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+            "button_min_z_position": [
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+              -0.4442320764064789,
+              0.7685465812683105
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+            "min_active_finger_to_button": 0.14427186414952922,
+            "closest_active_finger": [
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+              -0.43163228034973145,
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+            "closest_active_finger_button": [
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+              -0.4442629218101501,
+              0.776482343673706
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.012630641460418646,
+              0.034399986267089844
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+            "min_contact_pad_to_button": 0.02110084010853083,
+            "closest_contact_pad": [
+              0.13287000358104703,
+              -0.4472012569430819,
+              0.789437474505002
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+            "closest_contact_pad_button": [
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+              -0.4442320764064789,
+              0.7685465812683105
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002969180536603,
+              0.020890893236691466
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fe84f1049f6f4d784e51bc3824fedd3dd4f0115daad5a37fecf2d07f6aa82a4",
+    "visual_seed": 7406771831594457953,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf167d5143ca11c05cfacb6f6dac82eb9b6939c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_38_success.json
@@ -0,0 +1,2033 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24939370514353706,
+              -0.004465650840241572,
+              1.1640026804033132
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+            "current_z": 1.1640026804033132,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.3028959935746127,
+            "gripper_z": 1.1575755353592718,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.009323210339060875,
+              1.1575755353592718
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+              0.005047651766981104,
+              0.004857559498819303,
+              0.006427145044041405
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+            "object_to_gripper_xy": 0.00700533172985242,
+            "object_to_gripper_z": 0.006427145044041405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24939370514353706,
+              -0.028558080399024657,
+              1.1640026804033132
+            ],
+            "finger_b": [
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+              -0.004465650840241572,
+              1.1640026804033132
+            ],
+            "finger_midpoint": [
+              0.2439029902503933,
+              -0.016511865619633116,
+              1.1640026804033132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005490714893143761,
+              0.012046214779391544,
+              0.0
+            ],
+            "finger_gap": 0.026477102601985873,
+            "fingertip_max_gap": 0.09145659817993948,
+            "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": 1.1640026804033132,
+            "object_top_z": 1.2140528296826463,
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+            "fingertip_min_top_clearance": 0.015015044783799879,
+            "object_projection_between_fingers": 0.8279808246153054,
+            "object_to_finger_line_xy": 0.009992382004857673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822829908996974,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7078065311438103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.38789473873873676,
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834761908821174,
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+            "object_z": 0.8515395925410473,
+            "min_z": 0.5774145980897916,
+            "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": 0.08598980421296588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521396478682271,
+            "release_required_pad_clearance": 0.052994902106482944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0233452524511562,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008267402648925781,
+            "max_z_decrease": 0.008267402648925781,
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+            "z_decrease_threshold": 0.0003,
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+            "required_contacted_press_frames": 2,
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+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008267402648925781,
+            "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": 0.008267440356835498,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+              -0.44391716375942725,
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+            "closest_button": [
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+              0.7686108946800232
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+              0.0011640794243298058,
+              0.00021489605311852955,
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+              -0.444132536649704,
+              0.7685414552688599
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+            "min_active_finger_to_button": 0.14469397588300612,
+            "closest_active_finger": [
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+              -0.4283910095691681,
+              0.8107097744941711
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+            "closest_active_finger_button": [
+              0.1281235516071319,
+              -0.44415411353111267,
+              0.7762933969497681
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.020930543093963912,
+            "closest_contact_pad": [
+              0.12813141942024225,
+              -0.4450472327171317,
+              0.789452002017152
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+            "closest_contact_pad_button": [
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+              -0.444132536649704,
+              0.7685414552688599
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0009146960674277227,
+              0.02091054674829218
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+          },
+          "failed_keys": [],
+          "failure_code": null,
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0f258e9b07c5449cb22285e6818420f7840d74a4fd438e6b27db2c09a8ebef1",
+    "visual_seed": 2225421442220318408,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df60f93a3121e2d6ab8fa49465c11198f13a1238
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_3_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2469840910915875,
+              -0.0020213929761767353,
+              1.1645238661166988
+            ],
+            "current_z": 1.1645238661166988,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.3034171196833535,
+            "gripper_z": 1.1579976377869918,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24205592721037972,
+              -0.006811237521748434,
+              1.1579976377869918
+            ],
+            "object_minus_gripper": [
+              0.004928163881207787,
+              0.004789844545571699,
+              0.006526228329706951
+            ],
+            "object_to_gripper_xy": 0.006872365677900438,
+            "object_to_gripper_z": 0.006526228329706951,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2469840910915875,
+              -0.026033253764768186,
+              1.1645238661166988
+            ],
+            "finger_b": [
+              0.23610623564123995,
+              -0.0020213929761767353,
+              1.1645238661166988
+            ],
+            "finger_midpoint": [
+              0.24154516336641374,
+              -0.01402732337047246,
+              1.1645238661166988
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054389277251737644,
+              0.012005930394295724,
+              0.0
+            ],
+            "finger_gap": 0.026360902824625557,
+            "fingertip_max_gap": 0.09126201024382538,
+            "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": 1.1645238661166988,
+            "object_top_z": 1.2145782911696532,
+            "finger_top_clearance": 0.05005442505295443,
+            "fingertip_min_top_clearance": 0.015016327515886363,
+            "object_projection_between_fingers": 0.8297190727127637,
+            "object_to_finger_line_xy": 0.009908520678895845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813100512191269,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6413382593542587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2805245261903412,
+              -0.39291028576722276,
+              0.8515395131408007
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+            "target_position": [
+              0.27217772786978345,
+              -0.39451700996486666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008500035579417293,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473579364433704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395131408007,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582303542438769,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871389958675328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217981052996343,
+            "release_required_pad_clearance": 0.053569497933766405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.150036197809255,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008211374282836914,
+            "max_z_decrease": 0.008211374282836914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507928054402874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211374282836914,
+            "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": 0.02102874763132196,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008211374282836914,
+            "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": 0.008211414883868702,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12787765264511106,
+              -0.4507784545421599,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12787765264511106,
+              -0.4507784545421599,
+              0.7768088579177856
+            ],
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd6986c21905c205a0d3d61e3095cba51b2bf98dba34e85776d847b6da8ac981",
+    "visual_seed": 2426584889234780273,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..203fbb891837235d0641958a49b263c1e8fd1243
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_43_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": [
+              0.2532028925347669,
+              -0.002458021211860194,
+              1.1612633290928063
+            ],
+            "current_z": 1.1612633290928063,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3001569402873301,
+            "gripper_z": 1.1547203068662375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2480983160551881,
+              -0.00724885991665232,
+              1.1547203068662375
+            ],
+            "object_minus_gripper": [
+              0.005104576479578821,
+              0.004790838704792126,
+              0.006543022226568773
+            ],
+            "object_to_gripper_xy": 0.007000631152346452,
+            "object_to_gripper_z": 0.006543022226568773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2532028925347669,
+              -0.026711389970334194,
+              1.1612633290928063
+            ],
+            "finger_b": [
+              0.2424798605515368,
+              -0.002458021211860194,
+              1.1612633290928063
+            ],
+            "finger_midpoint": [
+              0.24784137654315186,
+              -0.014584705591097194,
+              1.1612633290928063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005361515991615051,
+              0.012126684379237,
+              0.0
+            ],
+            "finger_gap": 0.026518094031206283,
+            "fingertip_max_gap": 0.09118111199229714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013259047015603142,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612633290928063,
+            "object_top_z": 1.2111959948346347,
+            "finger_top_clearance": 0.04993266574182842,
+            "fingertip_min_top_clearance": 0.014979799722548558,
+            "object_projection_between_fingers": 0.8364876387344312,
+            "object_to_finger_line_xy": 0.009807252685360526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809055599614857,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.702642286095771,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28185605074801157,
+              -0.38633059859336544,
+              0.8515395700035625
+            ],
+            "target_position": [
+              0.2743113867377419,
+              -0.3876411684023518,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007657646391162542,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18294083583281454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395700035625,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577738948437931,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08783374859142816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042917779341222,
+            "release_required_pad_clearance": 0.05391687429571408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.843780182274666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008291959762573242,
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+            ],
+            "target_position": [
+              0.2684471996418773,
+              0.18319481345943234,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807484064199087,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16999816622689803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337326193781743,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667110308931,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13837915833444167,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c743780fc2578e5f132ecf4d5e1e5e82cb4fdb922174a5344b634f3aba556a5",
+    "visual_seed": 4907002794711782900,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd2cc5f0cf2775fc380436c12c8440d25359dcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_44_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2497585353784753,
+              -0.000329716747563674,
+              1.1647401530575703
+            ],
+            "current_z": 1.1647401530575703,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.30363334701958045,
+            "gripper_z": 1.1579751781023269,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2448035549614775,
+              -0.0050976484897523044,
+              1.1579751781023269
+            ],
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+              0.004954980416997823,
+              0.00476793174218863,
+              0.006764974955243419
+            ],
+            "object_to_gripper_xy": 0.00687640923963967,
+            "object_to_gripper_z": 0.006764974955243419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2497585353784753,
+              -0.024417835056463156,
+              1.1647401530575703
+            ],
+            "finger_b": [
+              0.2389890375056276,
+              -0.000329716747563674,
+              1.1647401530575703
+            ],
+            "finger_midpoint": [
+              0.24437378644205146,
+              -0.012373775902013415,
+              1.1647401530575703
+            ],
+            "object_minus_finger_midpoint": [
+              0.00538474893642385,
+              0.01204405915444974,
+              0.0
+            ],
+            "finger_gap": 0.026385972184037668,
+            "fingertip_max_gap": 0.09118174574078436,
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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": 1.1647401530575703,
+            "object_top_z": 1.2147441177693428,
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+            "object_projection_between_fingers": 0.8334116183866307,
+            "object_to_finger_line_xy": 0.009831623298895623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809087287039218,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6219879047610712,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777498131375279,
+              -0.38829667915968996,
+              0.8515396110730776
+            ],
+            "target_position": [
+              0.27005353536058957,
+              -0.38928207147560306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007759103661896472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18380368032436667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396110730776,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553465085805808,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618108522316235,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15170456260931697,
+            "release_required_pad_clearance": 0.05309054261158118,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2091582141777726,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            0.0001235063666509273
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2580143670705452,
+              0.1341473752740099,
+              0.8334924809567208
+            ],
+            "target_position": [
+              0.26851862422303624,
+              0.1809499728378467,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04796689021656626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16816726269148616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334924809567208,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673111044732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13696908713011066,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9eb5a6f073f1f969e45a8f65c8ae3ce2e64cf3c36b0184dce990918205a9f3e",
+    "visual_seed": 1567846893943550769,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea2c7fc2286c1ca71f67dee991678917d55846bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_45_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24743941383374907,
+              -0.0007237117926963289,
+              1.1636610417111641
+            ],
+            "current_z": 1.1636610417111641,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30255435488246407,
+            "gripper_z": 1.1571838400849959,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2426009579453063,
+              -0.0055902720982386744,
+              1.1571838400849959
+            ],
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+              0.004838455888442755,
+              0.004866560305542346,
+              0.006477201626168272
+            ],
+            "object_to_gripper_xy": 0.006862511536739795,
+            "object_to_gripper_z": 0.006477201626168272,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24743941383374907,
+              -0.02447540545482123,
+              1.1636610417111641
+            ],
+            "finger_b": [
+              0.23621004789426275,
+              -0.0007237117926963289,
+              1.1636610417111641
+            ],
+            "finger_midpoint": [
+              0.2418247308640059,
+              -0.012599558623758781,
+              1.1636610417111641
+            ],
+            "object_minus_finger_midpoint": [
+              0.005614682969743157,
+              0.011875846831062452,
+              0.0
+            ],
+            "finger_gap": 0.026272449661619287,
+            "fingertip_max_gap": 0.09135636386399582,
+            "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": 1.1636610417111641,
+            "object_top_z": 1.2137357828709092,
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+            "object_projection_between_fingers": 0.8173122898522555,
+            "object_to_finger_line_xy": 0.010151944841451821,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817818193199791,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.832524960466438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2810043455342889,
+              -0.3941353105198311,
+              0.8515395586504818
+            ],
+            "target_position": [
+              0.27246157315392433,
+              -0.3957210622035178,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008688703490454416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18505290057868629,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395586504818,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756885440875994,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853624476192532,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15264217848839376,
+            "release_required_pad_clearance": 0.0526812238096266,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41871346747311844,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28175207665991053,
+            -0.39423032715660844,
+            1.043575208555008
+          ],
+          "object_origin_world": [
+            0.28175207665991053,
+            -0.39423032715660844,
+            1.043575208555008
+          ],
+          "frame_world": [
+            0.2817507469514179,
+            -0.3942397494621075,
+            1.0434486928388074
+          ],
+          "center_minus_frame": [
+            1.3297084926477964e-06,
+            9.422305499051653e-06,
+            0.00012651571620070357
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2660142193226844,
+              0.12868311196859478,
+              0.8340646260996997
+            ],
+            "target_position": [
+              0.2752708711857845,
+              0.17577970266168685,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0479976505532019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16872515655372528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340646260996997,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673058943909,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13752790008091748,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68872bd9f1e6dae4c7536275f236e0d0f90e87e55cd68359e6b2d0aa7cb3ede2",
+    "visual_seed": 6604902863548755816,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..973e448206888b6604d16b040f18878dbf7ef409
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_46_success.json
@@ -0,0 +1,2033 @@
+{
+  "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": [
+              0.25028801109264043,
+              -0.0046200782051386766,
+              1.165331640505531
+            ],
+            "current_z": 1.165331640505531,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.304225132490765,
+            "gripper_z": 1.1588928446795979,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24518629267589437,
+              -0.009573041966113707,
+              1.1588928446795979
+            ],
+            "object_minus_gripper": [
+              0.005101718416746059,
+              0.004952963760975031,
+              0.006438795825933097
+            ],
+            "object_to_gripper_xy": 0.007110511994315025,
+            "object_to_gripper_z": 0.006438795825933097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25028801109264043,
+              -0.02879027990813954,
+              1.165331640505531
+            ],
+            "finger_b": [
+              0.2392147099568183,
+              -0.0046200782051386766,
+              1.165331640505531
+            ],
+            "finger_midpoint": [
+              0.24475136052472934,
+              -0.01670517905663911,
+              1.165331640505531
+            ],
+            "object_minus_finger_midpoint": [
+              0.005536650567911083,
+              0.012085100851500434,
+              0.0
+            ],
+            "finger_gap": 0.02658602355389662,
+            "fingertip_max_gap": 0.09122675525010018,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293011776948317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165331640505531,
+            "object_top_z": 1.2154036788192135,
+            "finger_top_clearance": 0.050072038313682565,
+            "fingertip_min_top_clearance": 0.015021611494104735,
+            "object_projection_between_fingers": 0.8265207839674988,
+            "object_to_finger_line_xy": 0.01006709113261363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048113377625050094,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5931406965816151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777477450065102,
+              -0.39109851241820615,
+              0.8515395808278017
+            ],
+            "target_position": [
+              0.2691842435923681,
+              -0.3924602335717215,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008671092259337666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18518105374847177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395808278017,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536332313124815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580534802932276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15352865641235605,
+            "release_required_pad_clearance": 0.05290267401466138,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+              "rod_tip_xy_range": 0.0005970758192614775,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2788803010009993,
+            -0.3920377728468311,
+            1.0434738624246513
+          ],
+          "object_origin_world": [
+            0.2788803010009993,
+            -0.3920377728468311,
+            1.0434738624246513
+          ],
+          "frame_world": [
+            0.2788788287268754,
+            -0.3920470994475441,
+            1.043349335120512
+          ],
+          "center_minus_frame": [
+            1.472274123892614e-06,
+            9.326600713011057e-06,
+            0.00012452730413925472
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26421581774106406,
+              0.1366206007906402,
+              0.8328908000572738
+            ],
+            "target_position": [
+              0.27609990175385046,
+              0.18328543254295943,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815431419193119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16793715430311884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328908000572738,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567078313412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13808596217105687,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d69b06f59ed2b6706532c41de409316dfd6a9f1494708f0d32ce158574c6576c",
+    "visual_seed": 8879165929093489601,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6a79d1bb61244cd552fd7d610e8262f5b0eb51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_50_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.24974560783433816,
+              0.003079470663691384,
+              1.1618407548337841
+            ],
+            "current_z": 1.1618407548337841,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3007341276097286,
+            "gripper_z": 1.1554266194597396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2447614514022372,
+              -0.0018885070973939655,
+              1.1554266194597396
+            ],
+            "object_minus_gripper": [
+              0.004984156432100956,
+              0.004967977761085349,
+              0.006414135374044561
+            ],
+            "object_to_gripper_xy": 0.007037230874022248,
+            "object_to_gripper_z": 0.006414135374044561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24974560783433816,
+              -0.021135532225115407,
+              1.1618407548337841
+            ],
+            "finger_b": [
+              0.23884443142622527,
+              0.003079470663691384,
+              1.1618407548337841
+            ],
+            "finger_midpoint": [
+              0.24429501963028172,
+              -0.009028030780712012,
+              1.1618407548337841
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450588204056445,
+              0.012107501444403396,
+              0.0
+            ],
+            "finger_gap": 0.02655563992800246,
+            "fingertip_max_gap": 0.0912279411078811,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327781996400123,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1618407548337841,
+            "object_top_z": 1.211847494045742,
+            "finger_top_clearance": 0.05000673921195786,
+            "fingertip_min_top_clearance": 0.015002021763587357,
+            "object_projection_between_fingers": 0.8314870844650911,
+            "object_to_finger_line_xy": 0.009940337304223357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811397055394055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6422447927175671,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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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+                  1.0009498603053935
+                ],
+                "rod_tip_xy_dist": 0.001779659111435478,
+                "target_xy_drift": 6.52819940568832e-08,
+                "depth": 0.019702738069740655,
+                "bottom_clearance": 0.07973793189364808,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006023175910145129,
+              "rod_tip_xy_max_step": 3.258184730854197e-05,
+              "rod_tip_xy_range": 0.0006023116191832752,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2768028777295476,
+            -0.3871626923652544,
+            1.0434699268401648
+          ],
+          "object_origin_world": [
+            0.2768028777295476,
+            -0.3871626923652544,
+            1.0434699268401648
+          ],
+          "frame_world": [
+            0.27680152969478905,
+            -0.38717109929255555,
+            1.043347493694271
+          ],
+          "center_minus_frame": [
+            1.3480347585415053e-06,
+            8.40692730114112e-06,
+            0.0001224331458937744
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2615276213516231,
+              0.12921163445375966,
+              0.8339881755587832
+            ],
+            "target_position": [
+              0.27209275032217217,
+              0.17566764431866772,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04764223759158222,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674209073490022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339881755587832,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835680531748358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13673015190873508,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d43ee6b86cd4c65c3fccf91f9b3e92043bf92703f208fb5888ba2754bbb5d51e",
+    "visual_seed": 6677397076640672744,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba659dfdcc520ca17be6661dfb730a54efa8f5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_51_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 51,
+  "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": [
+              0.2498338737146426,
+              0.00370077413123889,
+              1.1650463498201442
+            ],
+            "current_z": 1.1650463498201442,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30393978220073326,
+            "gripper_z": 1.1583162183085807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24496424953989154,
+              -0.001028896426183562,
+              1.1583162183085807
+            ],
+            "object_minus_gripper": [
+              0.004869624174751064,
+              0.004729670557422452,
+              0.006730131511563542
+            ],
+            "object_to_gripper_xy": 0.00678844777434936,
+            "object_to_gripper_z": 0.006730131511563542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2498338737146426,
+              -0.02032168806529093,
+              1.1650463498201442
+            ],
+            "finger_b": [
+              0.239112201191936,
+              0.00370077413123889,
+              1.1650463498201442
+            ],
+            "finger_midpoint": [
+              0.2444730374532893,
+              -0.008310456967026019,
+              1.1650463498201442
+            ],
+            "object_minus_finger_midpoint": [
+              0.005360836261353308,
+              0.012011231098264909,
+              0.0
+            ],
+            "finger_gap": 0.02630651918570502,
+            "fingertip_max_gap": 0.09126453019797925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153259592852509,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650463498201442,
+            "object_top_z": 1.2150289527163065,
+            "finger_top_clearance": 0.0499826028961623,
+            "fingertip_min_top_clearance": 0.014994780868848655,
+            "object_projection_between_fingers": 0.8338890346086683,
+            "object_to_finger_line_xy": 0.009790765971054455,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813226509898963,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.736888767882897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                "rod_tip_xy": [
+                  0.28370150124302845,
+                  -0.3891404607914567
+                ],
+                "target_mouth_xy": [
+                  0.2855645447365312,
+                  -0.39005894114468076
+                ],
+                "gripper_position": [
+                  0.28369322098570793,
+                  -0.3891436829816069,
+                  1.001413213771297
+                ],
+                "rod_tip_xy_dist": 0.0020771464122544456,
+                "target_xy_drift": 3.359817868202499e-08,
+                "depth": 0.01970738160625618,
+                "bottom_clearance": 0.07973332987661907,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018712883655552792,
+                  0.0009152933534428698
+                ],
+                "rod_tip_xy": [
+                  0.2836932209857078,
+                  -0.38914368298160706
+                ],
+                "target_mouth_xy": [
+                  0.2855645093512631,
+                  -0.39005897633504993
+                ],
+                "gripper_position": [
+                  0.28370473218104164,
+                  -0.38922009143108127,
+                  1.0008030878236815
+                ],
+                "rod_tip_xy_dist": 0.002083142354693803,
+                "target_xy_drift": 3.471543530705466e-08,
+                "depth": 0.019846720274266372,
+                "bottom_clearance": 0.07959394135125619,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006026664013809717,
+              "rod_tip_xy_max_step": 3.26544899830697e-05,
+              "rod_tip_xy_range": 0.0006026623666946706,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2832243479478908,
+            -0.39056943774169567,
+            1.0433444676435601
+          ],
+          "object_origin_world": [
+            0.2832243479478908,
+            -0.39056943774169567,
+            1.0433444676435601
+          ],
+          "frame_world": [
+            0.2832484345928841,
+            -0.39056605528470395,
+            1.0436389181513093
+          ],
+          "center_minus_frame": [
+            -2.4086644993315254e-05,
+            -3.3824569917184633e-06,
+            -0.0002944505077491222
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2641582359337963,
+              0.13476936804100512,
+              0.8330881769128463
+            ],
+            "target_position": [
+              0.2759971957463935,
+              0.18004838267981133,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0468011766530022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16510224689699038,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330881769128463,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672702533917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13540016050948966,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "987cbc7dd67221fe24c9b3e75e0a6d7b0e46730003dddff62673bba7c1e2b49c",
+    "visual_seed": 9062722593418981607,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..153cd23bcad5b1698ad5ab6737ff2e7a1aef31c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_52_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.24850035014312483,
+              -0.00612968379533935,
+              1.1635589646807718
+            ],
+            "current_z": 1.1635589646807718,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30245245666600595,
+            "gripper_z": 1.1570466005040616,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24360372948082423,
+              -0.011061223740094814,
+              1.1570466005040616
+            ],
+            "object_minus_gripper": [
+              0.004896620662300594,
+              0.0049315399447554635,
+              0.006512364176710195
+            ],
+            "object_to_gripper_xy": 0.0069496028762216205,
+            "object_to_gripper_z": 0.006512364176710195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24850035014312483,
+              -0.029866421223483264,
+              1.1635589646807718
+            ],
+            "finger_b": [
+              0.23708552857155993,
+              -0.00612968379533935,
+              1.1635589646807718
+            ],
+            "finger_midpoint": [
+              0.24279293935734236,
+              -0.017998052509411305,
+              1.1635589646807718
+            ],
+            "object_minus_finger_midpoint": [
+              0.005707410785782463,
+              0.011868368714071955,
+              0.0
+            ],
+            "finger_gap": 0.026338770951646766,
+            "fingertip_max_gap": 0.09142039116541428,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169385475823388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635589646807718,
+            "object_top_z": 1.2136224866874814,
+            "finger_top_clearance": 0.050063522006709604,
+            "fingertip_min_top_clearance": 0.015019056602012915,
+            "object_projection_between_fingers": 0.8121776615154821,
+            "object_to_finger_line_xy": 0.0102871399326402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048210195582707144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7502766501706685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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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+                "rod_tip_xy": [
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+                  -0.3901580895736612,
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+                "target_xy_drift": 4.384427482099873e-08,
+                "depth": 0.0192828066582581,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014460130439633012,
+                  -0.000252355392704795
+                ],
+                "rod_tip_xy": [
+                  0.2861576818388458,
+                  -0.39015808957366127
+                ],
+                "target_mouth_xy": [
+                  0.2847116687948825,
+                  -0.3899057341809565
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+                "gripper_position": [
+                  0.2861494626800855,
+                  -0.39016170080807333,
+                  1.0016950229808792
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+                "target_xy_drift": 4.414947224208752e-08,
+                "depth": 0.019423759362327098,
+                "bottom_clearance": 0.08001684021030908,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006039278956284746,
+              "rod_tip_xy_max_step": 3.2746173762179085e-05,
+              "rod_tip_xy_range": 0.000603920390593114,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28585285648659114,
+            -0.3916924776294581,
+            1.0432851036678452
+          ],
+          "object_origin_world": [
+            0.28585285648659114,
+            -0.3916924776294581,
+            1.0432851036678452
+          ],
+          "frame_world": [
+            0.2858769114827321,
+            -0.3916889338400852,
+            1.0435798701816077
+          ],
+          "center_minus_frame": [
+            -2.4054996140943086e-05,
+            -3.543789372895123e-06,
+            -0.00029476651376247887
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2567903593372853,
+              0.1295853078386965,
+              0.8340380127765787
+            ],
+            "target_position": [
+              0.2676718025612686,
+              0.17496893730287105,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046669900685326775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16489208019420692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340380127765787,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672604515776,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13479566432209789,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8621da059ba39bd586ba4de6c5f1e231f7706b258fece0be9989090e29ac568",
+    "visual_seed": 8750578948545073135,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db3fd418cc19f52dc19aa4d4acd541e0f0ac7be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_53_success.json
@@ -0,0 +1,2027 @@
+{
+  "episode": 53,
+  "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": [
+              0.2518826941358152,
+              0.004899707973223207,
+              1.1615602104749887
+            ],
+            "current_z": 1.1615602104749887,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30045346404164364,
+            "gripper_z": 1.1549305766839182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2470169300024441,
+              3.425108244178854e-06,
+              1.1549305766839182
+            ],
+            "object_minus_gripper": [
+              0.004865764133371114,
+              0.004896282864979029,
+              0.0066296337910705105
+            ],
+            "object_to_gripper_xy": 0.006902843363099586,
+            "object_to_gripper_z": 0.0066296337910705105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2518826941358152,
+              -0.019129750106521036,
+              1.1615602104749887
+            ],
+            "finger_b": [
+              0.24093682311922673,
+              0.004899707973223207,
+              1.1615602104749887
+            ],
+            "finger_midpoint": [
+              0.24640975862752096,
+              -0.007115021066648915,
+              1.1615602104749887
+            ],
+            "object_minus_finger_midpoint": [
+              0.005472935508294252,
+              0.012014729039872121,
+              0.0
+            ],
+            "finger_gap": 0.02640505534775448,
+            "fingertip_max_gap": 0.09106615465099407,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013202527673877246,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615602104749887,
+            "object_top_z": 1.2115729384279037,
+            "finger_top_clearance": 0.050012727952915004,
+            "fingertip_min_top_clearance": 0.015003818385874501,
+            "object_projection_between_fingers": 0.8281591199686584,
+            "object_to_finger_line_xy": 0.009961098178942782,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803307732549704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5682290527770388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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",
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+                "bottom_clearance": 0.0802062001876439,
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+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  4.420729827481207e-05,
+                  0.0007708080151069274
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+                "rod_tip_xy": [
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+                "target_mouth_xy": [
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+                  1.0013607912231672
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+                "target_xy_drift": 8.675568008304481e-08,
+                "depth": 0.019374370289743092,
+                "bottom_clearance": 0.08006621633541777,
+                "inserted": true,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006018709488103863,
+              "rod_tip_xy_max_step": 3.2662949510071954e-05,
+              "rod_tip_xy_range": 0.0006018614050434217,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28140535617779355,
+            -0.39552825076859793,
+            1.043349409197904
+          ],
+          "object_origin_world": [
+            0.28140535617779355,
+            -0.39552825076859793,
+            1.043349409197904
+          ],
+          "frame_world": [
+            0.2814293799550506,
+            -0.39552435850946144,
+            1.043642718772461
+          ],
+          "center_minus_frame": [
+            -2.402377725702065e-05,
+            -3.89225913649538e-06,
+            -0.0002933095745569769
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26290632520860757,
+              0.13267669890586997,
+              0.8333332277316328
+            ],
+            "target_position": [
+              0.27417014660177375,
+              0.17919535358936284,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047862917858601146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1649238496548237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333332277316328,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672538052824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1347395936293776,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c28a3e2620a2b51d3adc309407abd33e51a6b5dda037ef2d4760b156dd00fb8d",
+    "visual_seed": 8873894089173725540,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8789bcef2533434a0e113b61f5f973a5b9f1d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_54_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2511997228932714,
+              0.002034746691890047,
+              1.163561766432526
+            ],
+            "current_z": 1.163561766432526,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3024552584177601,
+            "gripper_z": 1.1569201428363896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2461457445668702,
+              -0.002803005329345659,
+              1.1569201428363896
+            ],
+            "object_minus_gripper": [
+              0.005053978326401226,
+              0.004837752021235707,
+              0.006641623596136403
+            ],
+            "object_to_gripper_xy": 0.006996180496721301,
+            "object_to_gripper_z": 0.006641623596136403,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2511997228932714,
+              -0.022027876596691132,
+              1.163561766432526
+            ],
+            "finger_b": [
+              0.2402043656149544,
+              0.002034746691890047,
+              1.163561766432526
+            ],
+            "finger_midpoint": [
+              0.2457020442541129,
+              -0.009996564952400543,
+              1.163561766432526
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549767863915851,
+              0.01203131164429059,
+              0.0
+            ],
+            "finger_gap": 0.026455769147881683,
+            "fingertip_max_gap": 0.09117453474866635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013227884573940843,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163561766432526,
+            "object_top_z": 1.2135473706479054,
+            "finger_top_clearance": 0.04998560421537945,
+            "fingertip_min_top_clearance": 0.014995681264613802,
+            "object_projection_between_fingers": 0.827265969477347,
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+              },
+              {
+                "frame": 409,
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+                  1.0017150235986851
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+                "depth": 0.019406088470086513,
+                "bottom_clearance": 0.08003459396363788,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006042964203312989,
+              "rod_tip_xy_max_step": 3.288723366371464e-05,
+              "rod_tip_xy_range": 0.000604289711609859,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28048575744256254,
+            -0.39316242780034466,
+            1.0433349804720573
+          ],
+          "object_origin_world": [
+            0.28048575744256254,
+            -0.39316242780034466,
+            1.0433349804720573
+          ],
+          "frame_world": [
+            0.2805097363565933,
+            -0.3931594256878567,
+            1.0436297590182366
+          ],
+          "center_minus_frame": [
+            -2.3978914030775567e-05,
+            -3.0021124879375805e-06,
+            -0.00029477854617931953
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2651511621260707,
+              0.13007303776533205,
+              0.8337095208595302
+            ],
+            "target_position": [
+              0.27548816328306225,
+              0.17670957813044724,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04776840472683449,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16977908086049479,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337095208595302,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671214307351,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13935550802652993,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ff782842dfe4c6030cc0b4a6c2f7d4e215e401c9b50e941182c6e358660619f",
+    "visual_seed": 6608017023962773124,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..091ec071d6ff71dc8c895e737448e928b8b63d2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_55_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24869601463703836,
+              -0.0010284591893827428,
+              1.1617054627705699
+            ],
+            "current_z": 1.1617054627705699,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30059877594186946,
+            "gripper_z": 1.155302382747544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24367883217508424,
+              -0.005942108052704995,
+              1.155302382747544
+            ],
+            "object_minus_gripper": [
+              0.005017182461954123,
+              0.004913648863322252,
+              0.00640308002302592
+            ],
+            "object_to_gripper_xy": 0.007022539783338225,
+            "object_to_gripper_z": 0.00640308002302592,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24869601463703836,
+              -0.025022488838316467,
+              1.1617054627705699
+            ],
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_max_step": 0.004,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005980489337265563,
+              "rod_tip_xy_max_step": 3.237856845375365e-05,
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+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27862948696401063,
+            -0.3846876760127931,
+            1.0435075599659516
+          ],
+          "object_origin_world": [
+            0.27862948696401063,
+            -0.3846876760127931,
+            1.0435075599659516
+          ],
+          "frame_world": [
+            0.27862812221946676,
+            -0.3846959721552259,
+            1.0433848237816423
+          ],
+          "center_minus_frame": [
+            1.3647445438746963e-06,
+            8.29614243280652e-06,
+            0.0001227361843092467
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2600956642635865,
+              0.12887723518670705,
+              0.8342294402771047
+            ],
+            "target_position": [
+              0.26915463196151845,
+              0.17577859528791562,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04776821615986319,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674939156775667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342294402771047,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671812215681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364184397081581,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8449b242940564f10d95e1b3a42ca3f44254b1c01135e347e0d8dc2108417a7e",
+    "visual_seed": 1057554229137286656,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65475e55a06b0f935332667eb44158fbc2a078ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_58_success.json
@@ -0,0 +1,2015 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    "task_island_state_digest": "4bb2dc0641f913a120d0ff24e0b611c404d6efde81fe77222f377e3836d998f9",
+    "visual_seed": 856976402837697536,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26eca944aac8714091ee20c425a114aa4f05af0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_5_success.json
@@ -0,0 +1,2009 @@
+{
+  "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": [
+              0.24829068973773025,
+              0.004978290710870706,
+              1.16249961747399
+            ],
+            "current_z": 1.16249961747399,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3013930498545794,
+            "gripper_z": 1.1560188919377687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2431496399168537,
+              0.00017577223323120283,
+              1.1560188919377687
+            ],
+            "object_minus_gripper": [
+              0.005141049820876542,
+              0.004802518477639503,
+              0.006480725536221366
+            ],
+            "object_to_gripper_xy": 0.007035238232554998,
+            "object_to_gripper_z": 0.006480725536221366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24829068973773025,
+              -0.019278055145091216,
+              1.16249961747399
+            ],
+            "finger_b": [
+              0.2375311937225968,
+              0.004978290710870706,
+              1.16249961747399
+            ],
+            "finger_midpoint": [
+              0.24291094173016353,
+              -0.007149882217110255,
+              1.16249961747399
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379748007566715,
+              0.01212817292798096,
+              0.0
+            ],
+            "finger_gap": 0.02653558118420838,
+            "fingertip_max_gap": 0.09118209462101426,
+            "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": 1.16249961747399,
+            "object_top_z": 1.2125208990153888,
+            "finger_top_clearance": 0.05002128154139873,
+            "fingertip_min_top_clearance": 0.015006384462419652,
+            "object_projection_between_fingers": 0.8355905978652117,
+            "object_to_finger_line_xy": 0.009835324682251049,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809104731050713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6892433253196776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27571852645862754,
+              -0.38891541997647816,
+              0.8515395649580308
+            ],
+            "target_position": [
+              0.26824288794009626,
+              -0.38991669726559064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075423953403040995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18237555720277202,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395649580308,
+            "min_z": 0.5774145980897916,
+            "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": 0.08741859262474895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15025837783005272,
+            "release_required_pad_clearance": 0.05370929631237448,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.428040686949916,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008095800876617432,
+            "max_z_decrease": 0.008095800876617432,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517321756821889,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008095800876617432,
+            "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": 0.02096765010164281,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008095800876617432,
+            "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": 0.008095827941461032,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4461781680583954,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.44616034626960754,
+              0.7687130570411682
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+              0.0018440834393990135,
+              0.0350532016775249
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+            "button_min_z_position": [
+              0.12395379692316051,
+              -0.44616034626960754,
+              0.7687130570411682
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+            "min_active_finger_to_button": 0.1470562722779958,
+            "closest_active_finger": [
+              -0.005470991134643555,
+              -0.506981372833252,
+              0.8108123540878296
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+            "closest_active_finger_button": [
+              0.12394276261329645,
+              -0.44617772102355957,
+              0.7764533162117004
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12941375374794,
+              -0.06080365180969238,
+              0.03435903787612915
+            ],
+            "min_contact_pad_to_button": 0.02096765010164281,
+            "closest_contact_pad": [
+              0.12395379692316051,
+              -0.44616034626960754,
+              0.789680707142811
+            ],
+            "closest_contact_pad_button": [
+              0.12395379692316051,
+              -0.44616034626960754,
+              0.7687130570411682
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02096765010164281
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+    "layout_id": "layout_00003",
+    "step_seeds": [
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+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
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+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "249e5864e5e33a7b3fe5e44b851705fd50e0d4d0aeb82d18cab8c3d4adf96639",
+    "visual_seed": 5650427232575089915,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
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+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cba39b889091cfead314418be631c4b39f8e29
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_62_success.json
@@ -0,0 +1,2021 @@
+{
+  "episode": 62,
+  "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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+              1.1638813287102683
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+            "lift_margin": 0.3027746418815682,
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+            "fingertip_line_xy_max_dist": 0.04799744829235923,
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+              0.0,
+              1.0
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+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
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+          "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": [
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "place",
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+            },
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "button_final_displacement": 0.0,
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+              -0.4446389377117156,
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+            "min_active_finger_to_button": 0.14757410263214568,
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+              0.034409523010253906
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+              -0.44745556563550254,
+              0.7895198576586997
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+            "closest_contact_pad_button": [
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.002816627923786952,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
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+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e406e5f777d42866ff8be3581e362fb50ce73426cdbf0c062e34c772c23b39a8",
+    "visual_seed": 7085003476988385910,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bece42d49d126a4752c2e6ced8f851cf9823ed9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_63_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.24807231255941306,
+              0.0030192384567798176,
+              1.1637158173444644
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+            "current_z": 1.1637158173444644,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3026091305157642,
+            "gripper_z": 1.1572842596430033,
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.0019139682436291883,
+              1.1572842596430033
+            ],
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+              0.005004049128300714,
+              0.004933206700409006,
+              0.006431557701461088
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+            "object_to_gripper_z": 0.006431557701461088,
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+            "finger_a": [
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+              -0.020816346528036725,
+              1.1637158173444644
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+            "finger_b": [
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+              0.0030192384567798176,
+              1.1637158173444644
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+            "finger_midpoint": [
+              0.24238202359724542,
+              -0.008898554035628455,
+              1.1637158173444644
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011917792492408272,
+              0.0
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+            "fingertip_max_gap": 0.09125683113362118,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010270001403482047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812841556681059,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7585004423689509,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2819807246506575,
+              -0.3906476820040018,
+              0.8515395899196244
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+              -0.3916583082041354,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.0854558110365078,
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+            "release_min_pad_clearance": 0.15242876937568187,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5082179537056539,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008439183235168457,
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+            "contact_distance_threshold": 0.08,
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
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+            "max_contact_point_stable_frames": 120,
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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": 0.00843921682271688,
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+            "button_start": [
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+              -0.44791975617408747,
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+            "closest_ee": [
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+            "closest_ee_minus_button": [
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+              -0.0008066017463583819,
+              0.03497987210633058
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+            "button_min_z_position": [
+              0.12962853908538813,
+              -0.44789636135101313,
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+            "min_active_finger_to_button": 0.147279836589625,
+            "closest_active_finger": [
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+              -0.43353843688964844,
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+            "closest_active_finger_button": [
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+              -0.4479193985462188,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014380961656570379,
+              0.03442102670669556
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+            "min_contact_pad_to_button": 0.02098292473275076,
+            "closest_contact_pad": [
+              0.12962853908538813,
+              -0.44978722106142227,
+              0.7892672290824946
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+            "closest_contact_pad_button": [
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+              -0.44789636135101313,
+              0.7683696746826172
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.001890859710409143,
+              0.020897554399877394
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff7b15559fd2a41062973a1b088fe28b3be81d801f8758fabbe59005bd7fe42b",
+    "visual_seed": 7926676238472687092,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6c54b90c4f6a68f3a7e0b19525fe8a88ae8995
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_65_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 65,
+  "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": [
+              0.24827852011317095,
+              -0.003455778699624489,
+              1.1642272467844375
+            ],
+            "current_z": 1.1642272467844375,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3031205003510924,
+            "gripper_z": 1.1576963177900044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2432814186874103,
+              -0.008226300555728636,
+              1.1576963177900044
+            ],
+            "object_minus_gripper": [
+              0.004997101425760653,
+              0.0047705218561041466,
+              0.006530928994433083
+            ],
+            "object_to_gripper_xy": 0.006908610673565742,
+            "object_to_gripper_z": 0.006530928994433083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24827852011317095,
+              -0.02760017719842087,
+              1.1642272467844375
+            ],
+            "finger_b": [
+              0.237540311267562,
+              -0.003455778699624489,
+              1.1642272467844375
+            ],
+            "finger_midpoint": [
+              0.24290941569036648,
+              -0.01552797794902268,
+              1.1642272467844375
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053691044228044715,
+              0.012072199249398192,
+              0.0
+            ],
+            "finger_gap": 0.026424630708499885,
+            "fingertip_max_gap": 0.0913461745173402,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013212315354249942,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642272467844375,
+            "object_top_z": 1.2142614242478245,
+            "finger_top_clearance": 0.05003417746338701,
+            "fingertip_min_top_clearance": 0.015010253239016101,
+            "object_projection_between_fingers": 0.8348624491934257,
+            "object_to_finger_line_xy": 0.009811588150152862,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481730872586701,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6338857625506841,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2807292171249204,
+              -0.39099338599213196,
+              0.8515396046981372
+            ],
+            "target_position": [
+              0.2732353540143175,
+              -0.39215639573156064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007583572771092858,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18545417433512631,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396046981372,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573312449202652,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08732801093534946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15283999690498162,
+            "release_required_pad_clearance": 0.05366400546767473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3377073003722817,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008158564567565918,
+            "max_z_decrease": 0.008158564567565918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502480047907973,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008158564567565918,
+            "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": 0.02107626844497616,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008158564567565918,
+            "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": 0.008158659204490132,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12893527746200562,
+              -0.44841784238815313,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12893527746200562,
+              -0.44841784238815313,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12827480924466686,
+              -0.4502138218035028,
+              0.803620935727975
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+            "closest_button": [
+              0.1289663314819336,
+              -0.44839376211166393,
+              0.7686502933502197
+            ],
+            "closest_ee_minus_button": [
+              -0.000691522237266734,
+              -0.001820059691838849,
+              0.03497064237775527
+            ],
+            "button_min_z_position": [
+              0.1289663314819336,
+              -0.44839376211166393,
+              0.7686502933502197
+            ],
+            "min_active_finger_to_button": 0.14623548096474367,
+            "closest_active_finger": [
+              -0.012428656220436096,
+              -0.43363362550735474,
+              0.810938835144043
+            ],
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89681968c81ba8ca4e7dd123956ee8366086b2c45e3b154139f40d3f4e601770",
+    "visual_seed": 4645472795024174006,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef7241bab36652b9ec9708854f0a7e275bc8844
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_66_success.json
@@ -0,0 +1,2033 @@
+{
+  "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": [
+              0.2478869437699832,
+              -0.004219644939108674,
+              1.1637417687301204
+            ],
+            "current_z": 1.1637417687301204,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3026352607153543,
+            "gripper_z": 1.157361782459767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24291856717389027,
+              -0.009071017784411939,
+              1.157361782459767
+            ],
+            "object_minus_gripper": [
+              0.004968376596092922,
+              0.0048513728453032645,
+              0.0063799862703532995
+            ],
+            "object_to_gripper_xy": 0.006944104296793776,
+            "object_to_gripper_z": 0.0063799862703532995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2478869437699832,
+              -0.028154557348320165,
+              1.1637417687301204
+            ],
+            "finger_b": [
+              0.23678927390125007,
+              -0.004219644939108674,
+              1.1637417687301204
+            ],
+            "finger_midpoint": [
+              0.24233810883561663,
+              -0.016187101143714418,
+              1.1637417687301204
+            ],
+            "object_minus_finger_midpoint": [
+              0.005548834934366559,
+              0.011967456204605743,
+              0.0
+            ],
+            "finger_gap": 0.02638253794751394,
+            "fingertip_max_gap": 0.09125999812395255,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319126897375697,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637417687301204,
+            "object_top_z": 1.2138113470062175,
+            "finger_top_clearance": 0.05006957827609715,
+            "fingertip_min_top_clearance": 0.015020873482829144,
+            "object_projection_between_fingers": 0.8230581923405964,
+            "object_to_finger_line_xy": 0.010068089612261993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812999906197628,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6907802438548112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2817350468077431,
+              -0.3891313874048723,
+              0.8515395131344946
+            ],
+            "target_position": [
+              0.2734366593647047,
+              -0.39025681616992414,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008374355142933904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588128384889638,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395131344946,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516125796532035,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588591134589339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548452571788318,
+            "release_required_pad_clearance": 0.0529429556729467,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9228015201246764,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0084611177444458,
+            "max_z_decrease": 0.0084611177444458,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500151908406378,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0084611177444458,
+            "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": 0.02098110152732351,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0084611177444458,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815991863375329,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17021985080468918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342161612827055,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670544900755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13870777975767237,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fd3880e500387d2b97ecf4e9ad4155c2488c3250ebe5f23c81b9c0a42d44d1e",
+    "visual_seed": 573466958740497713,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a101147294d275352736034ee62576889136313a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_67_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2484481746354999,
+              -0.002227230933349752,
+              1.1632081250463222
+            ],
+            "current_z": 1.1632081250463222,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3021014382176218,
+            "gripper_z": 1.1566097286758625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24355474990868567,
+              -0.0070147011102545676,
+              1.1566097286758625
+            ],
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+              0.004893424726814227,
+              0.004787470176904816,
+              0.006598396370459669
+            ],
+            "object_to_gripper_xy": 0.006845836417250263,
+            "object_to_gripper_z": 0.006598396370459669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2484481746354999,
+              -0.026209864364201522,
+              1.1632081250463222
+            ],
+            "finger_b": [
+              0.23756447252413587,
+              -0.002227230933349752,
+              1.1632081250463222
+            ],
+            "finger_midpoint": [
+              0.24300632357981788,
+              -0.014218547648775637,
+              1.1632081250463222
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441851055682012,
+              0.011991316715425885,
+              0.0
+            ],
+            "finger_gap": 0.026336698311054837,
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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": 0.015019464227403422,
+            "object_projection_between_fingers": 0.829222506420441,
+            "object_to_finger_line_xy": 0.009910879299470425,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481904983020741,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6884921098804486,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28473562542616615,
+              -0.3874257759829487,
+              0.8515396015418353
+            ],
+            "target_position": [
+              0.2761926949426869,
+              -0.38880531562543486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008653599879284346,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379642183264147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396015418353,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524962101448346,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530622009496179,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152575564691531,
+            "release_required_pad_clearance": 0.0526531100474809,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36476848627818115,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2632437360193632,
+              0.13722202754345586,
+              0.8335181171345393
+            ],
+            "target_position": [
+              0.2743530776884631,
+              0.18323641300261523,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047336467353456965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16720549199304272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335181171345393,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669343979704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13670812194016727,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b24109218de14fcb958aec04b9ba412d3d76e68314177a10a2b96a2a3a34407",
+    "visual_seed": 5460816761886022236,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c5bde4b0d2804095e6006ed4ffd481c496748d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_68_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2500570950833358,
+              0.0006403404496231994,
+              1.1613215888249244
+            ],
+            "current_z": 1.1613215888249244,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.3002149616008686,
+            "gripper_z": 1.154572217487612,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24512518748941062,
+              -0.004100503333126351,
+              1.154572217487612
+            ],
+            "object_minus_gripper": [
+              0.004931907593925172,
+              0.004740843782749551,
+              0.006749371337312349
+            ],
+            "object_to_gripper_xy": 0.006841002286759729,
+            "object_to_gripper_z": 0.006749371337312349,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2500570950833358,
+              -0.023434466463204132,
+              1.1613215888249244
+            ],
+            "finger_b": [
+              0.23933454785721056,
+              0.0006403404496231994,
+              1.1613215888249244
+            ],
+            "finger_midpoint": [
+              0.2446958214702732,
+              -0.011397063006790466,
+              1.1613215888249244
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053612736130626,
+              0.012037403456413666,
+              0.0
+            ],
+            "finger_gap": 0.02635468358577664,
+            "fingertip_max_gap": 0.09124512883851166,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177341792888313,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613215888249244,
+            "object_top_z": 1.2113618230220948,
+            "finger_top_clearance": 0.05004023419717041,
+            "fingertip_min_top_clearance": 0.015012070259151121,
+            "object_projection_between_fingers": 0.8344686250140854,
+            "object_to_finger_line_xy": 0.00979496692656006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812256441925583,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6196944370643793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27630803399107995,
+              -0.3906170136349715,
+              0.8515395576306325
+            ],
+            "target_position": [
+              0.26857673728095166,
+              -0.3916980835999359,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007806514016460144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556837842860294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395576306325,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582596601571157,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712945448499483,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285844880837227,
+            "release_required_pad_clearance": 0.05356472724249742,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.140549884554462,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27463648520973916,
+            -0.3912123131247964,
+            1.0434998957254071
+          ],
+          "object_origin_world": [
+            0.27463648520973916,
+            -0.3912123131247964,
+            1.0434998957254071
+          ],
+          "frame_world": [
+            0.2746351039724839,
+            -0.3912215151267051,
+            1.0433770190332838
+          ],
+          "center_minus_frame": [
+            1.381237255237977e-06,
+            9.202001908736879e-06,
+            0.0001228766921232971
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2617407413163156,
+              0.1324248393991235,
+              0.8332261504212789
+            ],
+            "target_position": [
+              0.27297202372794704,
+              0.1788974790585221,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04781054215883909,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16739899355041307,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332261504212789,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677018596365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13618748595879712,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b76287231c453405627edec461d83702012e8f2b1b0bfc77178aaa5beb70f5b",
+    "visual_seed": 1432469095891801555,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37fddbf428a34a67341adbef2943b6307b66c5fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_6_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2509577314267997,
+              -0.004747549257811354,
+              1.1619549853148703
+            ],
+            "current_z": 1.1619549853148703,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3008484773001042,
+            "gripper_z": 1.155585459599347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24596680966743817,
+              -0.00970550644432086,
+              1.155585459599347
+            ],
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+              0.004990921759361555,
+              0.0049579571865095064,
+              0.006369525715523183
+            ],
+            "object_to_gripper_xy": 0.007034958384477473,
+            "object_to_gripper_z": 0.006369525715523183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2509577314267997,
+              -0.028631485658106852,
+              1.1619549853148703
+            ],
+            "finger_b": [
+              0.23961758089176907,
+              -0.004747549257811354,
+              1.1619549853148703
+            ],
+            "finger_midpoint": [
+              0.24528765615928438,
+              -0.016689517457959102,
+              1.1619549853148703
+            ],
+            "object_minus_finger_midpoint": [
+              0.00567007526751534,
+              0.011941968200147748,
+              0.0
+            ],
+            "finger_gap": 0.026439391674743885,
+            "fingertip_max_gap": 0.09137924965116129,
+            "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": 1.1619549853148703,
+            "object_top_z": 1.2120238735812778,
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+            "object_projection_between_fingers": 0.8160352044295629,
+            "object_to_finger_line_xy": 0.010244087212005516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048189624825580646,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6928023577801922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2791369874956663,
+              -0.38966226846503343,
+              0.8515396113803525
+            ],
+            "target_position": [
+              0.27080897632462136,
+              -0.39113014818595443,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008456384625839825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18605363921584275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396113803525,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577211295102164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562070365509657,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353745249687686,
+            "release_required_pad_clearance": 0.052810351827548285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6667568090470493,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27766528868589707,
+            -0.3889979847226036,
+            1.0434924603132207
+          ],
+          "object_origin_world": [
+            0.27766528868589707,
+            -0.3889979847226036,
+            1.0434924603132207
+          ],
+          "frame_world": [
+            0.27766382121377176,
+            -0.3890069571837369,
+            1.043369076812373
+          ],
+          "center_minus_frame": [
+            1.4674721253160605e-06,
+            8.972461133294196e-06,
+            0.0001233835008478401
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2571583692793952,
+              0.12786907443641948,
+              0.8342187344000884
+            ],
+            "target_position": [
+              0.26722065547455065,
+              0.17402515157691634,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047240163637234704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1672257941080015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342187344000884,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671827561689,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13697711432880869,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "131b5759a3d7a4cbf51b7128ac6954e95ad24e947b90338facb166ca4aca610a",
+    "visual_seed": 1874466521082108119,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28efb99b52ebfea079f71a5ac41071430ebb24da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_71_success.json
@@ -0,0 +1,2021 @@
+{
+  "episode": 71,
+  "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": [
+              0.2487220292226619,
+              -0.00023732928742772018,
+              1.1615880036839934
+            ],
+            "current_z": 1.1615880036839934,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3004814956692273,
+            "gripper_z": 1.1551096897738131,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24384836658244832,
+              -0.005235318362326977,
+              1.1551096897738131
+            ],
+            "object_minus_gripper": [
+              0.004873662640213577,
+              0.0049979890748992565,
+              0.006478313910180278
+            ],
+            "object_to_gripper_xy": 0.0069808654422948094,
+            "object_to_gripper_z": 0.006478313910180278,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2487220292226619,
+              -0.02412797316086694,
+              1.1615880036839934
+            ],
+            "finger_b": [
+              0.237442231619124,
+              -0.00023732928742772018,
+              1.1615880036839934
+            ],
+            "finger_midpoint": [
+              0.24308213042089294,
+              -0.012182651224147328,
+              1.1615880036839934
+            ],
+            "object_minus_finger_midpoint": [
+              0.005639898801768961,
+              0.011945321936719608,
+              0.0
+            ],
+            "finger_gap": 0.02641962714847199,
+            "fingertip_max_gap": 0.09104848647528585,
+            "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": 1.1615880036839934,
+            "object_top_z": 1.2116639237704279,
+            "finger_top_clearance": 0.05007592008643447,
+            "fingertip_min_top_clearance": 0.01502277602593034,
+            "object_projection_between_fingers": 0.8177157080824876,
+            "object_to_finger_line_xy": 0.010200054148992135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802424323764293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5416775176577362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2802150515056645,
+              -0.3937034309446208,
+              0.8515395684406306
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+            "target_position": [
+              0.2714371349839068,
+              -0.3955807603894407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008976423803906227,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18469361671978607,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395684406306,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587076867663432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647459531209627,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519516721368552,
+            "release_required_pad_clearance": 0.053237297656048135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.495639322845943,
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27819874056469024,
+            -0.39523771205529074,
+            1.0434272971085525
+          ],
+          "object_origin_world": [
+            0.27819874056469024,
+            -0.39523771205529074,
+            1.0434272971085525
+          ],
+          "frame_world": [
+            0.27819734442199917,
+            -0.39524706054637393,
+            1.043302242371635
+          ],
+          "center_minus_frame": [
+            1.3961426910680252e-06,
+            9.348491083194244e-06,
+            0.00012505473691759583
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2644475835948833,
+              0.13040454266785143,
+              0.8339701168158753
+            ],
+            "target_position": [
+              0.2752522832500071,
+              0.1762823858819869,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04713298242863728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1650046690367625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339701168158753,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674504921904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13413669607657736,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fcc7d8161cdc01f9ee9fb6f38e1fc4a54703cdbe8810e2fdd3c81bb548c32294",
+    "visual_seed": 8278103831783637762,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ddd4f2e2e805323c0bc9e20cbe415734b9b572
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_72_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2486201201570689,
+              -0.00428726896111809,
+              1.161057744550432
+            ],
+            "current_z": 1.161057744550432,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.2999512961403108,
+            "gripper_z": 1.154492554053462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2436967256182757,
+              -0.009121515894425322,
+              1.154492554053462
+            ],
+            "object_minus_gripper": [
+              0.004923394538793202,
+              0.004834246933307232,
+              0.006565190496969908
+            ],
+            "object_to_gripper_xy": 0.006899982405543445,
+            "object_to_gripper_z": 0.006565190496969908,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2486201201570689,
+              -0.028207542774865473,
+              1.161057744550432
+            ],
+            "finger_b": [
+              0.23756678891130062,
+              -0.00428726896111809,
+              1.161057744550432
+            ],
+            "finger_midpoint": [
+              0.24309345453418477,
+              -0.016247405867991782,
+              1.161057744550432
+            ],
+            "object_minus_finger_midpoint": [
+              0.005526665622884147,
+              0.011960136906873692,
+              0.0
+            ],
+            "finger_gap": 0.026350628663341723,
+            "fingertip_max_gap": 0.09123310650024974,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013175314331670863,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161057744550432,
+            "object_top_z": 1.2111575923964568,
+            "finger_top_clearance": 0.050099847846024836,
+            "fingertip_min_top_clearance": 0.01502995435380745,
+            "object_projection_between_fingers": 0.8240438671737507,
+            "object_to_finger_line_xy": 0.010033867249651293,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811655325012487,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5681609697702431,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006045415750343775,
+              "rod_tip_xy_max_step": 3.287256915922432e-05,
+              "rod_tip_xy_range": 0.0006045326518663646,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.284946598111089,
+            -0.3947366109330695,
+            1.043384395472702
+          ],
+          "object_origin_world": [
+            0.284946598111089,
+            -0.3947366109330695,
+            1.043384395472702
+          ],
+          "frame_world": [
+            0.28494520361914766,
+            -0.39474615864293805,
+            1.0432562577502418
+          ],
+          "center_minus_frame": [
+            1.3944919413644286e-06,
+            9.547709868551468e-06,
+            0.00012813772246023092
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25918176307682095,
+              0.13305522644957166,
+              0.8340159469999341
+            ],
+            "target_position": [
+              0.26826836610813604,
+              0.17937091036607938,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04719861153998661,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16932222749021256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340159469999341,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674779554979,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13809835508856322,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f96e973312774eed8b8318abdba998ba0be76c914b92af0287f414c3f0acbab",
+    "visual_seed": 1926889348584274811,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..286852c83e929c15371ed6178218da7f2753eb27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_73_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.2539903351840309,
+              -0.0011147544453249981,
+              1.1643346950127156
+            ],
+            "current_z": 1.1643346950127156,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3032280677886602,
+            "gripper_z": 1.1575076129474953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2491401675718003,
+              -0.005877018180083987,
+              1.1575076129474953
+            ],
+            "object_minus_gripper": [
+              0.004850167612230616,
+              0.004762263734758989,
+              0.0068270820652203135
+            ],
+            "object_to_gripper_xy": 0.006797299592200675,
+            "object_to_gripper_z": 0.0068270820652203135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2539903351840309,
+              -0.025106443416562912,
+              1.1643346950127156
+            ],
+            "finger_b": [
+              0.2431931843101127,
+              -0.0011147544453249981,
+              1.1643346950127156
+            ],
+            "finger_midpoint": [
+              0.24859175974707182,
+              -0.013110598930943955,
+              1.1643346950127156
+            ],
+            "object_minus_finger_midpoint": [
+              0.005398575436959097,
+              0.011995844485618957,
+              0.0
+            ],
+            "finger_gap": 0.02630930646533222,
+            "fingertip_max_gap": 0.09119925485583058,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013154653232666106,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643346950127156,
+            "object_top_z": 1.214309065115272,
+            "finger_top_clearance": 0.04997437010255634,
+            "fingertip_min_top_clearance": 0.014992311030766902,
+            "object_projection_between_fingers": 0.8315777207708063,
+            "object_to_finger_line_xy": 0.00984601725947871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809962742791529,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.675778881624501,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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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+                "bottom_clearance": 0.08019203326244673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0009313818724011047,
+                  0.0014495691810008093
+                ],
+                "rod_tip_xy": [
+                  0.2779489613673679,
+                  -0.38418115721038404
+                ],
+                "target_mouth_xy": [
+                  0.278880343239769,
+                  -0.38563072639138485
+                ],
+                "gripper_position": [
+                  0.27794070058000586,
+                  -0.3841838942867828,
+                  1.0017408775513856
+                ],
+                "rod_tip_xy_dist": 0.0017229982596464642,
+                "target_xy_drift": 4.0718049786018894e-08,
+                "depth": 0.01938365189862057,
+                "bottom_clearance": 0.08005687164886788,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1554,
+              "stir_motion_end_frame": 1573,
+              "rod_tip_xy_path_length": 0.0006044892053744281,
+              "rod_tip_xy_max_step": 3.2746377853271886e-05,
+              "rod_tip_xy_range": 0.0006044762809282427,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27754155985753304,
+            -0.38551189550281034,
+            1.0435055720125346
+          ],
+          "object_origin_world": [
+            0.27754155985753304,
+            -0.38551189550281034,
+            1.0435055720125346
+          ],
+          "frame_world": [
+            0.27754015934174747,
+            -0.3855203174293804,
+            1.0433833108394137
+          ],
+          "center_minus_frame": [
+            1.4005157855656591e-06,
+            8.421926570079119e-06,
+            0.00012226117312086338
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25455676352892176,
+              0.13650842621827255,
+              0.8348890706436202
+            ],
+            "target_position": [
+              0.2666416336308484,
+              0.1811996606349891,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04629633375409278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1645517749927147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8348890706436202,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677210317981,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13415076950060648,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5da9f88d1df3add0afb8756b701ae49f004479b25c7ac561f31b6bf2659c7eff",
+    "visual_seed": 3116502057305202044,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b219e82ad12153afee2bbcd8d1103f60351d08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_75_success.json
@@ -0,0 +1,2021 @@
+{
+  "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": [
+              0.24997821741018758,
+              -0.005365799960598851,
+              1.1635594984089437
+            ],
+            "current_z": 1.1635594984089437,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30245299039417783,
+            "gripper_z": 1.156971480196464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2449255352876971,
+              -0.010125790477639493,
+              1.156971480196464
+            ],
+            "object_minus_gripper": [
+              0.005052682122490493,
+              0.004759990517040642,
+              0.006588018212479785
+            ],
+            "object_to_gripper_xy": 0.0069416933347168155,
+            "object_to_gripper_z": 0.006588018212479785,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24997821741018758,
+              -0.029513912078694342,
+              1.1635594984089437
+            ],
+            "finger_b": [
+              0.23921511414731672,
+              -0.005365799960598851,
+              1.1635594984089437
+            ],
+            "finger_midpoint": [
+              0.24459666577875216,
+              -0.017439856019646597,
+              1.1635594984089437
+            ],
+            "object_minus_finger_midpoint": [
+              0.005381551631435416,
+              0.012074056059047746,
+              0.0
+            ],
+            "finger_gap": 0.026438148776253827,
+            "fingertip_max_gap": 0.09121128877493348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219074388126908,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635594984089437,
+            "object_top_z": 1.2135621878406275,
+            "finger_top_clearance": 0.050002689431683844,
+            "fingertip_min_top_clearance": 0.01500080682950512,
+            "object_projection_between_fingers": 0.8342654972535938,
+            "object_to_finger_line_xy": 0.009830817828057956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810564438746674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7135534070112697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  -0.0017142144747484545,
+                  0.0011753878002279672
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+                "rod_tip_xy": [
+                  0.2837065032146198,
+                  -0.3891552397604414
+                ],
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+                ],
+                "gripper_position": [
+                  0.28369828522498974,
+                  -0.38915865373034453,
+                  1.001660378197323
+                ],
+                "rod_tip_xy_dist": 0.002078477266260533,
+                "target_xy_drift": 2.7450169698044397e-08,
+                "depth": 0.0194602408896708,
+                "bottom_clearance": 0.07998055136663262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017224327043610654,
+                  0.001171944337036046
+                ],
+                "rod_tip_xy": [
+                  0.2836982852249896,
+                  -0.38915865373034475
+                ],
+                "target_mouth_xy": [
+                  0.28542071792935064,
+                  -0.3903305980673808
+                ],
+                "gripper_position": [
+                  0.28368992967421935,
+                  -0.38916197891562837,
+                  1.001520717522126
+                ],
+                "rod_tip_xy_dist": 0.002083321374671568,
+                "target_xy_drift": 5.689090195707381e-08,
+                "depth": 0.01959958731670952,
+                "bottom_clearance": 0.07984120258577188,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006025428001520713,
+              "rod_tip_xy_max_step": 3.2647716649911866e-05,
+              "rod_tip_xy_range": 0.0006025365673798382,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2832332899926746,
+            -0.390515531340111,
+            1.0433540336821217
+          ],
+          "object_origin_world": [
+            0.2832332899926746,
+            -0.390515531340111,
+            1.0433540336821217
+          ],
+          "frame_world": [
+            0.2832573180342519,
+            -0.390512112598869,
+            1.0436479238454157
+          ],
+          "center_minus_frame": [
+            -2.4028041577306425e-05,
+            -3.418741242044998e-06,
+            -0.0002938901632940638
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2654288568019632,
+              0.13282095621310805,
+              0.8332564440651209
+            ],
+            "target_position": [
+              0.2755309584546028,
+              0.17889923961887783,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04717266856372132,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16746528453778683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332564440651209,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673733621918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13701003908485682,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9791bd2be0dd2503f69f6eaa90c46b5972b94a4d1ddeabf0e9e89f84d295fb3d",
+    "visual_seed": 5317198573348535362,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..caeab400b1d718d511ae78b67974dbe7a8cdd516
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_78_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": [
+              0.2485888762512065,
+              -0.0026993752086032687,
+              1.1616652848703826
+            ],
+            "current_z": 1.1616652848703826,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30055883646026127,
+            "gripper_z": 1.1551347978283415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2435590640121229,
+              -0.0075280438724549675,
+              1.1551347978283415
+            ],
+            "object_minus_gripper": [
+              0.005029812239083581,
+              0.004828668663851699,
+              0.0065304870420410666
+            ],
+            "object_to_gripper_xy": 0.006972449514030083,
+            "object_to_gripper_z": 0.0065304870420410666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2485888762512065,
+              -0.026823024187920926,
+              1.1616652848703826
+            ],
+            "finger_b": [
+              0.23770615723952845,
+              -0.0026993752086032687,
+              1.1616652848703826
+            ],
+            "finger_midpoint": [
+              0.24314751674536747,
+              -0.014761199698262097,
+              1.1616652848703826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441359505839016,
+              0.012061824489658828,
+              0.0
+            ],
+            "finger_gap": 0.026464769282283047,
+            "fingertip_max_gap": 0.09110220656306148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232384641141523,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616652848703826,
+            "object_top_z": 1.2116871621405538,
+            "finger_top_clearance": 0.05002187727017127,
+            "fingertip_min_top_clearance": 0.015006563181051346,
+            "object_projection_between_fingers": 0.8309019468447998,
+            "object_to_finger_line_xy": 0.009920014437987934,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805110328153074,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5512036876133881,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "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",
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+                "depth": 0.019445237410235072,
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+                "centered": true
+              },
+              {
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+                  0.001015954295069732
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+                "rod_tip_xy": [
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+                ],
+                "target_mouth_xy": [
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+                  1.001538349457806
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+                "target_xy_drift": 1.2427955721619405e-07,
+                "depth": 0.019583456891964945,
+                "bottom_clearance": 0.07985712905130538,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005972826606728456,
+              "rod_tip_xy_max_step": 3.234729969716746e-05,
+              "rod_tip_xy_range": 0.0005972777999001197,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28065448672891335,
+            -0.38952536233435975,
+            1.0434696763263358
+          ],
+          "object_origin_world": [
+            0.28065448672891335,
+            -0.38952536233435975,
+            1.0434696763263358
+          ],
+          "frame_world": [
+            0.2806531530298704,
+            -0.3895344217069271,
+            1.0433446970240912
+          ],
+          "center_minus_frame": [
+            1.333699042982417e-06,
+            9.059372567343793e-06,
+            0.00012497930224464326
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2590340198519676,
+              0.13743576484496478,
+              0.8339938660881082
+            ],
+            "target_position": [
+              0.2713361562919284,
+              0.18210989351938167,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04633702983366294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1643142363274054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339938660881082,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674083445574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342919573951749,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f34c3461c60da693348afab29fb4899dfd89281c2f3303999be3c86e7b03dbe",
+    "visual_seed": 3436429438218285187,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e547689aae5dbd60de58a73bee906d2f5d028cb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_79_success.json
@@ -0,0 +1,2015 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24775487960614326,
+              -0.0021323901015748853,
+              1.1642165052089601
+            ],
+            "current_z": 1.1642165052089601,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3031100567988392,
+            "gripper_z": 1.1578464318921347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2426647597985104,
+              -0.006990593828117633,
+              1.1578464318921347
+            ],
+            "object_minus_gripper": [
+              0.0050901198076328535,
+              0.004858203726542748,
+              0.006370073316825486
+            ],
+            "object_to_gripper_xy": 0.007036438239951386,
+            "object_to_gripper_z": 0.006370073316825486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24775487960614326,
+              -0.02644953918725276,
+              1.1642165052089601
+            ],
+            "finger_b": [
+              0.237015242329927,
+              -0.0021323901015748853,
+              1.1642165052089601
+            ],
+            "finger_midpoint": [
+              0.24238506096803514,
+              -0.014290964644413822,
+              1.1642165052089601
+            ],
+            "object_minus_finger_midpoint": [
+              0.00536981863810812,
+              0.012158574542838937,
+              0.0
+            ],
+            "finger_gap": 0.026583144066866474,
+            "fingertip_max_gap": 0.0913271161346019,
+            "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": 1.1642165052089601,
+            "object_top_z": 1.2142029315440201,
+            "finger_top_clearance": 0.04998642633506001,
+            "fingertip_min_top_clearance": 0.014995927900518001,
+            "object_projection_between_fingers": 0.836782569197434,
+            "object_to_finger_line_xy": 0.009824171291211704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816355806730095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7668639091993417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
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+                  0.0027206108372205273
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+                  -0.38517638561199097
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+                "target_mouth_xy": [
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+                "rod_tip_xy_dist": 0.002802574491668474,
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+                "depth": 0.019712994985456977,
+                "bottom_clearance": 0.07972773009845391,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006020347940449324,
+              "rod_tip_xy_max_step": 3.2583402952488145e-05,
+              "rod_tip_xy_range": 0.0006020282295586566,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2820881317749442,
+            -0.3865967884799568,
+            1.0434176095636922
+          ],
+          "object_origin_world": [
+            0.2820881317749442,
+            -0.3865967884799568,
+            1.0434176095636922
+          ],
+          "frame_world": [
+            0.2820866875985365,
+            -0.3866060264353451,
+            1.0432935207933358
+          ],
+          "center_minus_frame": [
+            1.4441764076833508e-06,
+            9.237955388263774e-06,
+            0.00012408877035641197
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25856979131416974,
+              0.13008092895102633,
+              0.8332550493350954
+            ],
+            "target_position": [
+              0.26878228734404375,
+              0.17640802305061232,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04743937945285633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675987158214192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332550493350954,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672813067452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13715095099976357,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8740e8f7e2cd335533c997394403e9abbf749ca519a4c6d2dbeb36a840de6f5b",
+    "visual_seed": 1428013618431553191,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e13a376c9cfd48b04cc294040d3553a48d3243d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_81_success.json
@@ -0,0 +1,2027 @@
+{
+  "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": [
+              0.24688791404500973,
+              -0.0074428851340923585,
+              1.1636799780176874
+            ],
+            "current_z": 1.1636799780176874,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3025732315843426,
+            "gripper_z": 1.157290327403714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24174326613605293,
+              -0.012306285340013504,
+              1.157290327403714
+            ],
+            "object_minus_gripper": [
+              0.005144647908956801,
+              0.004863400205921145,
+              0.006389650613973341
+            ],
+            "object_to_gripper_xy": 0.007079552504931892,
+            "object_to_gripper_z": 0.006389650613973341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24688791404500973,
+              -0.03180302004471272,
+              1.1636799780176874
+            ],
+            "finger_b": [
+              0.23614936940095976,
+              -0.0074428851340923585,
+              1.1636799780176874
+            ],
+            "finger_midpoint": [
+              0.24151864172298476,
+              -0.01962295258940254,
+              1.1636799780176874
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053692723220249705,
+              0.012180067455310181,
+              0.0
+            ],
+            "finger_gap": 0.026622030612556195,
+            "fingertip_max_gap": 0.09121299518017886,
+            "finger_z_skew": 0.0,
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+              }
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+            "rod_tip_motion_max_step": 0.004,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006052101450779725,
+              "rod_tip_xy_max_step": 3.281944919902884e-05,
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+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2844129891087991,
+            -0.3942415656321112,
+            1.0433651413702174
+          ],
+          "object_origin_world": [
+            0.2844129891087991,
+            -0.3942415656321112,
+            1.0433651413702174
+          ],
+          "frame_world": [
+            0.28441162655107977,
+            -0.39425130059936153,
+            1.0432375572190002
+          ],
+          "center_minus_frame": [
+            1.3625577193199234e-06,
+            9.73496725031886e-06,
+            0.00012758415121716382
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2637889737215549,
+              0.1323161831110356,
+              0.8327771593701281
+            ],
+            "target_position": [
+              0.27526259964890604,
+              0.17819480531855225,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04729156444420954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16636831058176563,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327771593701281,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672472780596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13629618968403365,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9f9b378611a0ae0542a1c81cd5bf2bb40a1f036b4130670d0c3d4681405d62d",
+    "visual_seed": 7644109322450642031,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf1caa1ad5b4f8fe5f6386db3662e92aeeb9af7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_82_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006044113473102725,
+              "rod_tip_xy_max_step": 3.288184978553089e-05,
+              "rod_tip_xy_range": 0.0006044050173000946,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2838394666219895,
+            -0.3937019976253332,
+            1.043565650181126
+          ],
+          "object_origin_world": [
+            0.2838394666219895,
+            -0.3937019976253332,
+            1.043565650181126
+          ],
+          "frame_world": [
+            0.28383821442902757,
+            -0.39371151320529035,
+            1.0434383360771582
+          ],
+          "center_minus_frame": [
+            1.2521929619313532e-06,
+            9.515579957153353e-06,
+            0.0001273141039677128
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2583018462211127,
+              0.13445803122265984,
+              0.8337365917891605
+            ],
+            "target_position": [
+              0.2699420762256257,
+              0.17965232641812034,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04666925404131064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1654654450955621,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337365917891605,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567151111443,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13587475529410564,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ef76b38b05bc8ee47d1aac70285c37c1708b0e370a203ac30b5f42601702e2a",
+    "visual_seed": 2757596105586281752,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84daae177311bf207c69024ad4ac511c885c7b49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_83_success.json
@@ -0,0 +1,2015 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                },
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+    "task_island_state_digest": "cfb916e1bd181c6408f9ae6771ff2b8b192f87347a31a60cb56665911cd97f81",
+    "visual_seed": 2652277167580380069,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35fba1c4e8e5fa3ba08ea581e70af28bc7f9000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_84_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 84,
+  "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": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
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+              0.003899959505051149,
+              1.1639228889400446
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+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30281632132063374,
+            "gripper_z": 1.1572452919025407,
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+              -0.0008655461193669278,
+              1.1572452919025407
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+              0.005024366964640203,
+              0.004765505624418077,
+              0.006677597037503924
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+            "object_to_gripper_z": 0.006677597037503924,
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+              -0.020227998538782287,
+              1.1639228889400446
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+              0.003899959505051149,
+              1.1639228889400446
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+              -0.00816401951686557,
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+              0.012063979021916717,
+              0.0
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811683296567362,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6797397861135611,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.27951436023445586,
+              -0.392450572583435,
+              0.8515395972951658
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+              -0.3937645404688622,
+              0.8084375599031817
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.15125934964142393,
+            "release_required_pad_clearance": 0.05310924602579517,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2455083454503455,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "max_contact_point_stable_frames": 120,
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+            "contact_point_contacted_z_ok": true,
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+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008477383507143459,
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+              -0.0015770778039312372,
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+              0.03497717468531547
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+              0.12711045145988464,
+              -0.44999694824218744,
+              0.7683315277099609
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+            "min_active_finger_to_button": 0.14714194119073992,
+            "closest_active_finger": [
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+              -0.4357735812664032,
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+              -0.45002552866935724,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014251947402954046,
+              0.034410059452056885
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+            "min_contact_pad_to_button": 0.02112077295840424,
+            "closest_contact_pad": [
+              0.12711045145988464,
+              -0.45307599215979677,
+              0.7892266596529254
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+              -0.44999694824218744,
+              0.7683315277099609
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030790439176093254,
+              0.02089513194296444
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1f070f94a8f2af2a2183c8d57d7c5e94694e33c8469d0da57b8ee48ce06fb87",
+    "visual_seed": 1984452555427251156,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa52ec11fb03813386047c54814e1c10c107b57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_85_success.json
@@ -0,0 +1,2021 @@
+{
+  "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,
+            "object_position": [
+              0.2547131059945504,
+              -0.0020611331809298524,
+              1.163959462139477
+            ],
+            "current_z": 1.163959462139477,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30285289452006636,
+            "gripper_z": 1.1571785417370568,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2497844498167644,
+              -0.006876327638471139,
+              1.1571785417370568
+            ],
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+              0.004928656177785984,
+              0.004815194457541286,
+              0.006780920402420287
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+            "object_to_gripper_xy": 0.0068904099575253334,
+            "object_to_gripper_z": 0.006780920402420287,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2547131059945504,
+              -0.026016439338248994,
+              1.163959462139477
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+              -0.0020611331809298524,
+              1.163959462139477
+            ],
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+              0.24922136703142678,
+              -0.014038786259589424,
+              1.163959462139477
+            ],
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+              0.005491738963123605,
+              0.011977653078659571,
+              0.0
+            ],
+            "finger_gap": 0.02635324421105022,
+            "fingertip_max_gap": 0.0912397221443213,
+            "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": 1.163959462139477,
+            "object_top_z": 1.2139871430940778,
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+            "fingertip_min_top_clearance": 0.01500830428638019,
+            "object_projection_between_fingers": 0.8262952918166058,
+            "object_to_finger_line_xy": 0.009984067778838503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811986107216065,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6705196723664401,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.38940337255774504,
+              0.8515396044349618
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+              -0.3906089127865825,
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18534831721422843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396044349618,
+            "min_z": 0.5774145980897916,
+            "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": 0.08616577114021744,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533347077906139,
+            "release_required_pad_clearance": 0.05308288557010872,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.194177350726789,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "contact_point_seen_ok": true,
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+            "max_z_decrease_with_contact_point": 0.008313953876495361,
+            "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": 0.008314077399991885,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+              -0.44687035679817194,
+              0.7768088579177856
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+            "closest_ee": [
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+              7.858280096195713e-06,
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+              -0.44683957099914545,
+              0.7684949040412903
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+            "min_active_finger_to_button": 0.14511203321263932,
+            "closest_active_finger": [
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+              -0.4331362545490265,
+              0.8108835816383362
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+            "closest_active_finger_button": [
+              0.13257734477519986,
+              -0.44686809182167053,
+              0.7764467000961304
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.013731837272644043,
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+            "min_contact_pad_to_button": 0.020924353785553983,
+            "closest_contact_pad": [
+              0.13261002302169797,
+              -0.4478168117448062,
+              0.7893964250832635
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+            "closest_contact_pad_button": [
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+              -0.44683957099914545,
+              0.7684949040412903
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0009772407456607457,
+              0.02090152104197318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d6e9823bb21152c345ba25c468508cbc5a7eeb24b99bdfe45377330197641a0",
+    "visual_seed": 9201391214745269501,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba0093264cec395f5d95f8866c0e6d7f2eb228a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_8_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.0015610128198034132,
+              1.1632283525829945
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+            "current_z": 1.1632283525829945,
+            "required_z": 0.8611067464333451,
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+            "lift_margin": 0.30212160614964945,
+            "gripper_z": 1.1565557965244166,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.0033500555931105236,
+              1.1565557965244166
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+              0.005003076577951099,
+              0.004911068412913937,
+              0.006672556058577861
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+            "object_to_gripper_z": 0.006672556058577861,
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+              -0.02239995360640622,
+              1.1632283525829945
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+              0.0015610128198034132,
+              1.1632283525829945
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+              0.24886049153929812,
+              -0.010419470393301404,
+              1.1632283525829945
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+              0.011980483213104817,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8209844734981095,
+            "object_to_finger_line_xy": 0.010137939162377364,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811027600356066,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6267389985713019,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": [
+              {
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+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.39036285321250486,
+              0.851539628742305
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+              -0.391870110269251,
+              0.8084375599031817
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.15601020647051986,
+            "release_required_pad_clearance": 0.05246185983668443,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008192718029022217,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
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+            "max_contact_point_stable_frames": 121,
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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,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008192824022197344,
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+            "button_start": [
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+            "button_min_z_position": [
+              0.13325951993465418,
+              -0.44810751080512995,
+              0.7686161398887634
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+            "min_active_finger_to_button": 0.1473986205599509,
+            "closest_active_finger": [
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.01634287834167475,
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+            "min_contact_pad_to_button": 0.020966499364386267,
+            "closest_contact_pad": [
+              0.13325951993465418,
+              -0.4503906218981767,
+              0.7894579608104971
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+            "closest_contact_pad_button": [
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "workflow_spec_digest": "a019e2146016d5a33e474ecd1e2fa03d64a0e3aa19ef9b3eefc48bae18574594",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7a27d78f3a1945a52982a7b6e5c1d1228bdfd21482a6b190cf5fdac82dc0556",
+    "visual_seed": 2605716303471429055,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989
+    ],
+    "runtime_workflow_digest": "7bae8b5ff25e485aff1b76e079d85012f834bf3a1896618464e13d874f6ed70c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a408f2b47b9dbab02952903c69cce49dcefa66b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00003/results/episode_9_success.json
@@ -0,0 +1,2015 @@
+{
+  "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": [
+              0.24989535185074385,
+              0.0046502600784201235,
+              1.1618403585563217
+            ],
+            "current_z": 1.1618403585563217,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3007336121229769,
+            "gripper_z": 1.1552757280769466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2447711752837715,
+              -0.00019524034153536873,
+              1.1552757280769466
+            ],
+            "object_minus_gripper": [
+              0.005124176566972338,
+              0.004845500419955492,
+              0.006564630479375166
+            ],
+            "object_to_gripper_xy": 0.0070523797266807235,
+            "object_to_gripper_z": 0.006564630479375166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24989535185074385,
+              -0.019711302121576874,
+              1.1618403585563217
+            ],
+            "finger_b": [
+              0.23920473937655073,
+              0.0046502600784201235,
+              1.1618403585563217
+            ],
+            "finger_midpoint": [
+              0.2445500456136473,
+              -0.007530521021578375,
+              1.1618403585563217
+            ],
+            "object_minus_finger_midpoint": [
+              0.005345306237096559,
+              0.012180781099998497,
+              0.0
+            ],
+            "finger_gap": 0.02660403931544411,
+            "fingertip_max_gap": 0.09121204604839667,
+            "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": 1.1618403585563217,
+            "object_top_z": 1.2117790431568198,
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+            "fingertip_min_top_clearance": 0.014981605380149431,
+            "object_projection_between_fingers": 0.838523245458296,
+            "object_to_finger_line_xy": 0.009789491650425022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048106023024198336,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7468340139580384,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27998390076941765,
+              -0.3920216898367001,
+              0.8515395110876111
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+            "target_position": [
+              0.27211796099674873,
+              -0.393375266869412,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007981552436132952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18507545867666625,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395110876111,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549827208876858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659337426072465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529946458929717,
+            "release_required_pad_clearance": 0.05329668713036233,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6120009852676969,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008412063121795654,
+            "max_z_decrease": 0.008412063121795654,
+            "final_z_decrease": 0.0,
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+            "min_ee_to_button": 0.034991197127116506,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008412063121795654,
+            "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": 0.020949653296667994,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008412063121795654,
+            "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": 0.008412231732365515,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4496367275714874,
+              0.7768088579177856
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+            "button_final": [
+              0.12781788408756256,
+              -0.4496367275714874,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1270327453257548,
+              -0.4500344835358123,
+              0.8035763605048482
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+            "closest_button": [
+              0.12785543501377106,
+              -0.44961389899253845,
+              0.7685973644256592
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+            "closest_ee_minus_button": [
+              -0.0008226896880162704,
+              -0.00042058454327387196,
+              0.03497899607918897
+            ],
+            "button_min_z_position": [
+              0.1278626173734665,
+              -0.44960781931877136,
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+        "attach_object_path": "/World/glass_rod/Cylinder",
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+      }
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
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+    "action_seed": 8196756798222636436,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a704f77dc70cc393f6dd81814477fb5f27cb4c611a31c103b3331de0e2555bf2",
+    "visual_seed": 1732851103846421103,
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+  }
+}
\ No newline at end of file
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+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3f121f741379e6b88290aefcc60cf3a253d075e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00006
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00006
+  reproducibility:
+    enabled: true
+    layout_id: layout_00006
+    action_seed: 613915801507398911
+    step_seeds:
+    - 103325174323403004
+    - 3963008736894911500
+    - 627831696969887324
+    - 1233641523371953434
+    - 398862745338253674
+    - 3669780516618446728
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2664
+      - 0.2664
+      'y':
+      - -0.0607
+      - -0.0607
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2418
+      - 0.2418
+      'y':
+      - 0.0609
+      - 0.0609
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2252
+      - 0.2252
+      'y':
+      - -0.342
+      - -0.342
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2745
+      - 0.2745
+      'y':
+      - 0.3172
+      - 0.3172
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66730433feb98c286e16a24c22e04ce9485b3e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2922803540839217,
+              -0.0685309874010651,
+              1.1648145307895574
+            ],
+            "current_z": 1.1648145307895574,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.3037081419840808,
+            "gripper_z": 1.1569126179990943,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28770181119301114,
+              -0.07321772625187067,
+              1.1569126179990943
+            ],
+            "object_minus_gripper": [
+              0.004578542890910586,
+              0.004686738850805575,
+              0.00790191279046315
+            ],
+            "object_to_gripper_xy": 0.006551990236527999,
+            "object_to_gripper_z": 0.00790191279046315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2922803540839217,
+              -0.09222346613961664,
+              1.1648145307895574
+            ],
+            "finger_b": [
+              0.2814545510196047,
+              -0.0685309874010651,
+              1.1648145307895574
+            ],
+            "finger_midpoint": [
+              0.2868674525517632,
+              -0.08037722677034087,
+              1.1648145307895574
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054129015321585094,
+              0.011846239369275771,
+              0.0
+            ],
+            "finger_gap": 0.02604863836679554,
+            "fingertip_max_gap": 0.09198386170613318,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302431918339777,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648145307895574,
+            "object_top_z": 1.2148328363840362,
+            "finger_top_clearance": 0.05001830559447873,
+            "fingertip_min_top_clearance": 0.015005491678343585,
+            "object_projection_between_fingers": 0.8272769923105724,
+            "object_to_finger_line_xy": 0.009846584121495871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849193085306659,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.29692879752719,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2871517486249425,
+              -0.342517226528797,
+              0.8515395634809712
+            ],
+            "target_position": [
+              0.2789408985904541,
+              -0.3433919339871015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008257310181074205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18500500720022683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395634809712,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560589463188086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863767402233148,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15268861362679528,
+            "release_required_pad_clearance": 0.053188370111657404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3999500588830824,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2519688496373914,
+              0.15613187698420114,
+              0.8324294815694081
+            ],
+            "target_position": [
+              0.26468642953610805,
+              0.20164476463445996,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0472563200084954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666575525353341,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324294815694081,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675465416279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13616977708369307,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc6ea025d210ac099dbba82476c698b7700d5cd1705adda7e788161aba7d16cb",
+    "visual_seed": 2856258740386233124,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e25985c6a00271a7be75f36c05929cbdac2d5fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2961675178341996,
+              -0.0637179831363076,
+              1.1630327970859773
+            ],
+            "current_z": 1.1630327970859773,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3019263486758561,
+            "gripper_z": 1.1548660791778842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29168324786948074,
+              -0.06833578696551558,
+              1.1548660791778842
+            ],
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+              0.0044842699647188455,
+              0.004617803829207984,
+              0.00816671790809309
+            ],
+            "object_to_gripper_xy": 0.006436830689207808,
+            "object_to_gripper_z": 0.00816671790809309,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2961675178341996,
+              -0.0872873759148798,
+              1.1630327970859773
+            ],
+            "finger_b": [
+              0.2853711124319118,
+              -0.0637179831363076,
+              1.1630327970859773
+            ],
+            "finger_midpoint": [
+              0.2907693151330557,
+              -0.0755026795255937,
+              1.1630327970859773
+            ],
+            "object_minus_finger_midpoint": [
+              0.005398202701143884,
+              0.0117846963892861,
+              0.0
+            ],
+            "finger_gap": 0.025924479658445604,
+            "fingertip_max_gap": 0.09173610005356983,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012962239829222802,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630327970859773,
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+            "object_projection_between_fingers": 0.826564390372464,
+            "object_to_finger_line_xy": 0.00981561531324006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836805002678492,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2945257598223898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2851022305453573,
+              -0.33643399666149254,
+              0.8515395217206837
+            ],
+            "target_position": [
+              0.27641312616054675,
+              -0.337415736584539,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008744389531959199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833422937890832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395217206837,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564503647717141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640132068866906,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15105991482455364,
+            "release_required_pad_clearance": 0.05320066034433453,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4237880839944537,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2491342294743199,
+              0.1556267223700705,
+              0.8322033665810893
+            ],
+            "target_position": [
+              0.262880965932405,
+              0.201462960825031,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047853249826402044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16463252575839488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322033665810893,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675859473302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1344436376907835,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caed6ebc33b5c194827c56850d2dd02f73e26a1d23f438290ad9090dfc17a13f",
+    "visual_seed": 5372654718103886577,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b122fbcbf5137008ea10a1c4119f546805ff43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_17_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29302601490059055,
+              -0.06656087357325284,
+              1.1636613284751598
+            ],
+            "current_z": 1.1636613284751598,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3025548800650386,
+            "gripper_z": 1.1555462768584517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28852771294749757,
+              -0.07122519870474332,
+              1.1555462768584517
+            ],
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+              0.004498301953092976,
+              0.004664325131490482,
+              0.008115051616708113
+            ],
+            "object_to_gripper_xy": 0.006480019243293478,
+            "object_to_gripper_z": 0.008115051616708113,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29302601490059055,
+              -0.09007852797083167,
+              1.1636613284751598
+            ],
+            "finger_b": [
+              0.2820830826607701,
+              -0.06656087357325284,
+              1.1636613284751598
+            ],
+            "finger_midpoint": [
+              0.2875545487806803,
+              -0.07831970077204226,
+              1.1636613284751598
+            ],
+            "object_minus_finger_midpoint": [
+              0.005471466119910229,
+              0.011758827198789415,
+              0.0
+            ],
+            "finger_gap": 0.025938925081222253,
+            "fingertip_max_gap": 0.09178912316607143,
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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": 1.1636613284751598,
+            "object_top_z": 1.2136944850880305,
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+            "object_projection_between_fingers": 0.822023168649735,
+            "object_to_finger_line_xy": 0.009921463503455798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839456158303572,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.231231532630579,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2892287836791069,
+              -0.3446862848424716,
+              0.8515395665052614
+            ],
+            "target_position": [
+              0.2802379190336644,
+              -0.3458199902859976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009062060202037321,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18542495733044728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395665052614,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556338078490693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576203194335068,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15330663985208431,
+            "release_required_pad_clearance": 0.05288101597167534,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8030769753077295,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24929576941328652,
+              0.15882862710898193,
+              0.8318760739144092
+            ],
+            "target_position": [
+              0.2617089414062771,
+              0.20520050346081692,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048004559734648525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16793902799157087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318760739144092,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673861334291,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13670427955965223,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c94a759f81fe32b86f6fdc43b325bf321bfb38d522a91835464fe4b29410a920",
+    "visual_seed": 8573697890241321626,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec7f1afef825db704683cde01785d5c1efee020
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29342942113491277,
+              -0.06715100768871815,
+              1.1663950613977696
+            ],
+            "current_z": 1.1663950613977696,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30528861298764853,
+            "gripper_z": 1.158378437520423,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2888254799608398,
+              -0.07181030768254959,
+              1.158378437520423
+            ],
+            "object_minus_gripper": [
+              0.0046039411740729785,
+              0.0046592999938314394,
+              0.008016623877346696
+            ],
+            "object_to_gripper_xy": 0.006550217612174585,
+            "object_to_gripper_z": 0.008016623877346696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29342942113491277,
+              -0.09082762029326408,
+              1.1663950613977696
+            ],
+            "finger_b": [
+              0.28260418427647926,
+              -0.06715100768871815,
+              1.1663950613977696
+            ],
+            "finger_midpoint": [
+              0.288016802705696,
+              -0.07898931399099111,
+              1.1663950613977696
+            ],
+            "object_minus_finger_midpoint": [
+              0.005412618429216753,
+              0.011838306302272963,
+              0.0
+            ],
+            "finger_gap": 0.026033972756130216,
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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": 1.1663950613977696,
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+            "finger_top_clearance": 0.05000826531168201,
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+            "object_to_finger_line_xy": 0.009845018347775215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048449063668718276,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3660440130034057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2866403000869048,
+              -0.3409198208138572,
+              0.851539608733107
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+            "target_position": [
+              0.277770897444757,
+              -0.3419811478409138,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008932676994434443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18567727463731837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539608733107,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558188937195405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651113371716816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333720242492557,
+            "release_required_pad_clearance": 0.05325556685858408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.53132303625911,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            -0.3408220657408602,
+            1.0432731595147027
+          ],
+          "center_minus_frame": [
+            1.6399604986228056e-06,
+            5.2228194374337455e-06,
+            0.00011461173711357908
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24866022877255184,
+              0.16030856740531751,
+              0.8345589580747051
+            ],
+            "target_position": [
+              0.2622760316218794,
+              0.2044824197444468,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046224661358531934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16281683680324113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8345589580747051,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673646150968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13250233609430054,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13cbfd97ce0ae57d44aea26e283ec7a371e40813f8e9eeb83f4b129c2aaffda3",
+    "visual_seed": 858303785521380247,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2dd38b0d8f3e74b4efa3ecb7c977a14df8a92e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2972552135685829,
+              -0.06615482855585428,
+              1.1642327214729646
+            ],
+            "current_z": 1.1642327214729646,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.303126153853554,
+            "gripper_z": 1.1562029614382159,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2925961313138916,
+              -0.07075524627663314,
+              1.1562029614382159
+            ],
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+              0.004659082254691305,
+              0.004600417720778863,
+              0.008029760034748756
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+            "object_to_gripper_xy": 0.006547586628799622,
+            "object_to_gripper_z": 0.008029760034748756,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2972552135685829,
+              -0.09003506695062688,
+              1.1642327214729646
+            ],
+            "finger_b": [
+              0.2867337111051734,
+              -0.06615482855585428,
+              1.1642327214729646
+            ],
+            "finger_midpoint": [
+              0.2919944623368782,
+              -0.07809494775324058,
+              1.1642327214729646
+            ],
+            "object_minus_finger_midpoint": [
+              0.005260751231704719,
+              0.0119401191973863,
+              0.0
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+            "fingertip_max_gap": 0.09167267632519385,
+            "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": 1.2141169885224339,
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+            "object_projection_between_fingers": 0.8374342896870445,
+            "object_to_finger_line_xy": 0.009628377980444981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833633816259693,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3419988948762196,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2912583451044509,
+              -0.33674649807572843,
+              0.8515395008751926
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+            "target_position": [
+              0.28294178406315035,
+              -0.33767062343766463,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008367747321606467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18570897534442887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395008751926,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515465079943405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549444036733954,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154503971715815,
+            "release_required_pad_clearance": 0.05274722018366977,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5453620177927843,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+            0.2902730583574832,
+            -0.3364243874363379,
+            1.0433338342850786
+          ],
+          "object_origin_world": [
+            0.2902730583574832,
+            -0.3364243874363379,
+            1.0433338342850786
+          ],
+          "frame_world": [
+            0.290298138034796,
+            -0.3364218194006105,
+            1.0436380424658775
+          ],
+          "center_minus_frame": [
+            -2.5079677312800364e-05,
+            -2.5680357274016075e-06,
+            -0.0003042081807989039
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2521950898652016,
+              0.15772050136029217,
+              0.8344009899025386
+            ],
+            "target_position": [
+              0.26543828365340427,
+              0.2020909530836364,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04630463441001894,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16179448578957448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8344009899025386,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676124585562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13186648732584655,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df4a0d52671b5c29c3ee7d83eb6eed8634025141a75c8957a2d9d576775f7570",
+    "visual_seed": 3559011416162207176,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..403162e29438e30fc5cc4e4a4bb868e814bf4996
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_23_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.2930983925460932,
+              -0.06627396033523689,
+              1.1651883243216683
+            ],
+            "current_z": 1.1651883243216683,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3040818163069021,
+            "gripper_z": 1.157346752158841,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2883876097390605,
+              -0.07098642854666441,
+              1.157346752158841
+            ],
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+              0.004710782807032687,
+              0.004712468211427526,
+              0.007841572162827326
+            ],
+            "object_to_gripper_xy": 0.006663244802553011,
+            "object_to_gripper_z": 0.007841572162827326,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2930983925460932,
+              -0.09008184048107512,
+              1.1651883243216683
+            ],
+            "finger_b": [
+              0.28227137886086967,
+              -0.06627396033523689,
+              1.1651883243216683
+            ],
+            "finger_midpoint": [
+              0.28768488570348144,
+              -0.078177900408156,
+              1.1651883243216683
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054135068426117705,
+              0.011903940072919117,
+              0.0
+            ],
+            "finger_gap": 0.02615414656184782,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307707328092391,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651883243216683,
+            "object_top_z": 1.2151876891115756,
+            "finger_top_clearance": 0.0499993647899073,
+            "fingertip_min_top_clearance": 0.014999809436972222,
+            "object_projection_between_fingers": 0.8286294205278167,
+            "object_to_finger_line_xy": 0.009855731424674762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839193210746033,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2260540854497506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29048064298642245,
+              -0.3436963822678879,
+              0.8515396599142858
+            ],
+            "target_position": [
+              0.2821807517528189,
+              -0.3447244949517828,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00836332530638587,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480228009321406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396599142858,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548463600238484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578602604875012,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15273171454996123,
+            "release_required_pad_clearance": 0.05289301302437506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8261365965708403,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29111344676190076,
+            -0.34462012050906665,
+            1.0433784843448166
+          ],
+          "object_origin_world": [
+            0.29111344676190076,
+            -0.34462012050906665,
+            1.0433784843448166
+          ],
+          "frame_world": [
+            0.29111179870067416,
+            -0.34462607300254416,
+            1.043259671203052
+          ],
+          "center_minus_frame": [
+            1.648061226600106e-06,
+            5.952493477512366e-06,
+            0.00011881314176465096
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2520797435550339,
+              0.15516520762065342,
+              0.8325184904327377
+            ],
+            "target_position": [
+              0.26542164212162306,
+              0.20030457778831645,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047069831065072475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16450389557663087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325184904327377,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674668875762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13440421871480956,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba5e0c1c80af69e83d93a0aec691e10f063df7f6584a783ddb85a9928bbe95a2",
+    "visual_seed": 1373541432575365173,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e7a7bb79f2b5ed22e94d78d2e82926a9ce775a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_32_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29197259857411945,
+              -0.06330419356586792,
+              1.1636367837940802
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+            "current_z": 1.1636367837940802,
+            "required_z": 0.861106508014766,
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+            "lift_margin": 0.30253027577931424,
+            "gripper_z": 1.1557609789212266,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2872520118028845,
+              -0.06806061292122655,
+              1.1557609789212266
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+              0.004720586771234936,
+              0.004756419355358629,
+              0.007875804872853553
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+            "object_to_gripper_z": 0.007875804872853553,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29197259857411945,
+              -0.08700962804635695,
+              1.1636367837940802
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+            "finger_b": [
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+              -0.06330419356586792,
+              1.1636367837940802
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+            "finger_midpoint": [
+              0.2864557103423092,
+              -0.07515691080611243,
+              1.1636367837940802
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+              0.005516888231810235,
+              0.011852717240244517,
+              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": 0.010003267910110811,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834001734908948,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1725603711327315,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28681411172339244,
+              -0.33871131020198597,
+              0.8515395533742068
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+            "target_position": [
+              0.277681504977451,
+              -0.34001939320099567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009225810918738456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18685825774207826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395533742068,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572758237396458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634727840098587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437631354592649,
+            "release_required_pad_clearance": 0.053173639200492936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3711399103238133,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2854208607300086,
+            -0.338729325825406,
+            1.043390745470362
+          ],
+          "object_origin_world": [
+            0.2854208607300086,
+            -0.338729325825406,
+            1.043390745470362
+          ],
+          "frame_world": [
+            0.28541931094416156,
+            -0.3387342152630287,
+            1.0432763044862716
+          ],
+          "center_minus_frame": [
+            1.5497858470436832e-06,
+            4.889437622723758e-06,
+            0.00011444098409030268
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24938901094984423,
+              0.1586390705746166,
+              0.8320299177521567
+            ],
+            "target_position": [
+              0.2631905541640473,
+              0.20416605233445212,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04757298249273332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16804479204066564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320299177521567,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672775131383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13847198552016918,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6e7ace622e3edabde85dd6ca93f0c89f7dcb327620396954c25560d1feaafbc",
+    "visual_seed": 2106465957840956914,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..622e302017e276f123ec44d161f91d128e76de93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29117626667619095,
+              -0.06173714210372923,
+              1.1655506324385239
+            ],
+            "current_z": 1.1655506324385239,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3044441244237579,
+            "gripper_z": 1.1576568404687118,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28657940347169564,
+              -0.06636411909358718,
+              1.1576568404687118
+            ],
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+              0.004596863204495316,
+              0.0046269769898579505,
+              0.007893791969812103
+            ],
+            "object_to_gripper_xy": 0.006522274709448988,
+            "object_to_gripper_z": 0.007893791969812103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29117626667619095,
+              -0.08556195262219085,
+              1.1655506324385239
+            ],
+            "finger_b": [
+              0.28059401405558704,
+              -0.06173714210372923,
+              1.1655506324385239
+            ],
+            "finger_midpoint": [
+              0.28588514036588897,
+              -0.07364954736296003,
+              1.1655506324385239
+            ],
+            "object_minus_finger_midpoint": [
+              0.005291126310301986,
+              0.011912405259230804,
+              0.0
+            ],
+            "finger_gap": 0.02606924752974044,
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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": 1.2155235036859628,
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+            "object_to_finger_line_xy": 0.00967117149264694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.297213186726779,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2834042596263293,
+              -0.3417687842613389,
+              0.8515396038264824
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+            "target_position": [
+              0.27492137431537333,
+              -0.3425250931638453,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00851653370537821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538441454208576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396038264824,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516223485809385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586022962983474,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15415758934987736,
+            "release_required_pad_clearance": 0.05293011481491737,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8978678109468201,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28156160817390574,
+            -0.34329608978097326,
+            1.0434071367374496
+          ],
+          "object_origin_world": [
+            0.28156160817390574,
+            -0.34329608978097326,
+            1.0434071367374496
+          ],
+          "frame_world": [
+            0.28156000206883,
+            -0.34330114837223036,
+            1.0432936450146053
+          ],
+          "center_minus_frame": [
+            1.606105075768749e-06,
+            5.058591257101064e-06,
+            0.00011349172284425002
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2525100686173748,
+              0.15858708954671494,
+              0.8324993916620177
+            ],
+            "target_position": [
+              0.26552048833579145,
+              0.20449846015096673,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04771923063095549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16819715112206615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324993916620177,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669145788623,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13742050953216767,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d5db88355a0581bb0b9ba9f4da48637ec7a3ace6ecb365b56164bc1da4925f9",
+    "visual_seed": 5149792828473682577,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..554eff7de098e1119b489d3bbf237a625dfca147
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28957727791544274,
+              -0.06453676120474577,
+              1.1649038859336385
+            ],
+            "current_z": 1.1649038859336385,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30379731831422774,
+            "gripper_z": 1.1570397536028907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2847923068590392,
+              -0.06921227558067868,
+              1.1570397536028907
+            ],
+            "object_minus_gripper": [
+              0.00478497105640352,
+              0.0046755143759329015,
+              0.007864132330747786
+            ],
+            "object_to_gripper_xy": 0.006690021127782381,
+            "object_to_gripper_z": 0.007864132330747786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28957727791544274,
+              -0.08848435355528775,
+              1.1649038859336385
+            ],
+            "finger_b": [
+              0.2789311037321078,
+              -0.06453676120474577,
+              1.1649038859336385
+            ],
+            "finger_midpoint": [
+              0.28425419082377523,
+              -0.07651055738001676,
+              1.1649038859336385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323087091667511,
+              0.011973796175270987,
+              0.0
+            ],
+            "finger_gap": 0.02620740742861919,
+            "fingertip_max_gap": 0.0916696981309986,
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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": 1.1649038859336385,
+            "object_top_z": 1.2149598050435713,
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+            "object_projection_between_fingers": 0.8349790761933913,
+            "object_to_finger_line_xy": 0.009728174758597349,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483348490654993,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.141848121411565,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28659346364659694,
+              -0.34089064478381614,
+              0.8515395129145966
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+            "target_position": [
+              0.2787369867951538,
+              -0.34159524291651394,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007888009067303558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834497683235619,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395129145966,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559539660586984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695258058560061,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15118135347750258,
+            "release_required_pad_clearance": 0.05347629029280031,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9655567149244548,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28558869064604886,
+            -0.3395541929854819,
+            1.0434008165911544
+          ],
+          "object_origin_world": [
+            0.28558869064604886,
+            -0.3395541929854819,
+            1.0434008165911544
+          ],
+          "frame_world": [
+            0.2855869145685417,
+            -0.3395593690153168,
+            1.0432860879687604
+          ],
+          "center_minus_frame": [
+            1.7760775071762325e-06,
+            5.176029834907947e-06,
+            0.00011472862239392256
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25047921084559527,
+              0.1642822597013308,
+              0.831586218623412
+            ],
+            "target_position": [
+              0.26543364426413035,
+              0.20943661760004623,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04756628129373455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1643441057489566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831586218623412,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671907817812,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346997483080562,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbe1fdedd4f51b9cab0629297cfbda57f7fe42c4fea4ce1669f6901e327faa63",
+    "visual_seed": 1929252869367741918,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..399def7431e7f6b05451219c4602cb867b20e65c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29903363633056884,
+              -0.06137033822243631,
+              1.1629505012500858
+            ],
+            "current_z": 1.1629505012500858,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3018440528399644,
+            "gripper_z": 1.1548684362672892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2944849166858847,
+              -0.066030694347483,
+              1.1548684362672892
+            ],
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+              0.004548719644684118,
+              0.004660356125046693,
+              0.008082064982796622
+            ],
+            "object_to_gripper_xy": 0.006512278373825511,
+            "object_to_gripper_z": 0.008082064982796622,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29903363633056884,
+              -0.08503385330359774,
+              1.1629505012500858
+            ],
+            "finger_b": [
+              0.28824115300473674,
+              -0.06137033822243631,
+              1.1629505012500858
+            ],
+            "finger_midpoint": [
+              0.2936373946676528,
+              -0.07320209576301702,
+              1.1629505012500858
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396241662916024,
+              0.01183175754058071,
+              0.0
+            ],
+            "finger_gap": 0.026008453286089857,
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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": 1.2128771717841018,
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+            "object_projection_between_fingers": 0.8278077021974297,
+            "object_to_finger_line_xy": 0.009819426366296099,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048338046280576655,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2310890114544402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2912351743196548,
+              -0.3421384902164867,
+              0.8515396077047825
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+            "target_position": [
+              0.28306566822615037,
+              -0.3430461664320927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008219775296453223,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852924598451397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396077047825,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587945834446551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670350973061967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222959122033242,
+            "release_required_pad_clearance": 0.05335175486530984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7200562788239866,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2920295178679254,
+            -0.3408236470786764,
+            1.0433468656806684
+          ],
+          "object_origin_world": [
+            0.2920295178679254,
+            -0.3408236470786764,
+            1.0433468656806684
+          ],
+          "frame_world": [
+            0.29202773168103874,
+            -0.3408292642556958,
+            1.043228863203052
+          ],
+          "center_minus_frame": [
+            1.7861868866764219e-06,
+            5.617177019412445e-06,
+            0.00011800247761639682
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25243703801646744,
+              0.1578904990069878,
+              0.8334518750330356
+            ],
+            "target_position": [
+              0.26647875518465425,
+              0.20256966837361934,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046833727123980845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16214177197898727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334518750330356,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674841775158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1327256283844727,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9b262cf02b1391c938e322f8691ba72f8620a3283acba7f167a2bf97ae6de03",
+    "visual_seed": 2947942655796344251,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..269c123f8d9fbab04c7db765ef6c5d15ac74031c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29047802210659923,
+              -0.06191930479954183,
+              1.1661975809088814
+            ],
+            "current_z": 1.1661975809088814,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30509119210340496,
+            "gripper_z": 1.158390410253954,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28582418846168356,
+              -0.06671286334932768,
+              1.158390410253954
+            ],
+            "object_minus_gripper": [
+              0.0046538336449156725,
+              0.004793558549785845,
+              0.00780717065492742
+            ],
+            "object_to_gripper_xy": 0.006681045664024014,
+            "object_to_gripper_z": 0.00780717065492742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29047802210659923,
+              -0.08554092155791132,
+              1.1661975809088814
+            ],
+            "finger_b": [
+              0.2793363134676514,
+              -0.06191930479954183,
+              1.1661975809088814
+            ],
+            "finger_midpoint": [
+              0.2849071677871253,
+              -0.07373011317872658,
+              1.1661975809088814
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570854319473906,
+              0.011810808379184745,
+              0.0
+            ],
+            "finger_gap": 0.026117397452167523,
+            "fingertip_max_gap": 0.09189428060065577,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058698726083761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661975809088814,
+            "object_top_z": 1.2162115544885612,
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+            "fingertip_min_top_clearance": 0.015004192073903987,
+            "object_projection_between_fingers": 0.818011561695122,
+            "object_to_finger_line_xy": 0.010077006025759191,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844714030032789,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2991228852082128,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28767711232573157,
+              -0.3390996368109248,
+              0.8515395994180766
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+            "target_position": [
+              0.2782527443157868,
+              -0.3402674536530355,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0094964471547831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865793868898541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395994180766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516724131497114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563523699507135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554894731691579,
+            "release_required_pad_clearance": 0.052817618497535676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6806975206405614,
+            "object_max_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_a",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2852923049568789,
+            -0.3395704121378943,
+            1.0433699999166395
+          ],
+          "object_origin_world": [
+            0.2852923049568789,
+            -0.3395704121378943,
+            1.0433699999166395
+          ],
+          "frame_world": [
+            0.28531754734945114,
+            -0.3395680909343297,
+            1.0436746318759704
+          ],
+          "center_minus_frame": [
+            -2.5242392572233374e-05,
+            -2.321203564581431e-06,
+            -0.00030463195933094767
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24695691844302553,
+              0.15679727200180119,
+              0.8321164207664333
+            ],
+            "target_position": [
+              0.2603324299821282,
+              0.20242299192187252,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04754587918166476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1662957943229678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321164207664333,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676189388061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13548997924549033,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c87250e14625faa04c6f0ed57b0611627e5948d3c830bc38073f105a40b566c1",
+    "visual_seed": 7326438271866392468,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4219eac17883bf10ad3f757d478118011647426
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2962798668733067,
+              -0.06720549550100413,
+              1.165696138322679
+            ],
+            "current_z": 1.165696138322679,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30458968991255775,
+            "gripper_z": 1.1576378484725283,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29174537427444613,
+              -0.07193936830823633,
+              1.1576378484725283
+            ],
+            "object_minus_gripper": [
+              0.004534492598860573,
+              0.004733872807232198,
+              0.008058289850150668
+            ],
+            "object_to_gripper_xy": 0.0065552402613614225,
+            "object_to_gripper_z": 0.008058289850150668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2962798668733067,
+              -0.09082780174946431,
+              1.165696138322679
+            ],
+            "finger_b": [
+              0.2853295801762714,
+              -0.06720549550100413,
+              1.165696138322679
+            ],
+            "finger_midpoint": [
+              0.29080472352478903,
+              -0.07901664862523422,
+              1.165696138322679
+            ],
+            "object_minus_finger_midpoint": [
+              0.005475143348517675,
+              0.01181115312423009,
+              0.0
+            ],
+            "finger_gap": 0.02603693782385534,
+            "fingertip_max_gap": 0.09177314503561149,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013018468911927683,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165696138322679,
+            "object_top_z": 1.2156793174234328,
+            "finger_top_clearance": 0.049983179100753894,
+            "fingertip_min_top_clearance": 0.014994953730226168,
+            "object_projection_between_fingers": 0.8231230797446375,
+            "object_to_finger_line_xy": 0.009934771424188386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048386572517805745,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.142058282518672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28367705745507815,
+              -0.34233655125313445,
+              0.851539612686989
+            ],
+            "target_position": [
+              0.2755934139130913,
+              -0.3432549578832392,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00813564770944062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18361368918831528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539612686989,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571861949171874,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859999750969299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15106046703723808,
+            "release_required_pad_clearance": 0.05299998754846495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.033240298131657,
+            "object_max_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": {
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2824285455625813,
+            -0.3440027585601855,
+            1.043453353682831
+          ],
+          "object_origin_world": [
+            0.2824285455625813,
+            -0.3440027585601855,
+            1.043453353682831
+          ],
+          "frame_world": [
+            0.2824268897692661,
+            -0.3440080560136668,
+            1.0433387690945286
+          ],
+          "center_minus_frame": [
+            1.6557933151806203e-06,
+            5.2974534813232665e-06,
+            0.00011458458830237994
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24858342207518508,
+              0.16079116466487858,
+              0.8308899180261181
+            ],
+            "target_position": [
+              0.26423140142299717,
+              0.20629824892284088,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812228148509621,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16343222654085793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8308899180261181,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673463608855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13366668415658228,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d14223a229e1aa101846fed5e245d2465a0ea58b8db18ae610abee7178d7454",
+    "visual_seed": 7125399660955477161,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d408f04b28d0b825268b55c59ebb2a0f85616bd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29027696390380703,
+              -0.06567707339053738,
+              1.1645011412435577
+            ],
+            "current_z": 1.1645011412435577,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30339475243808134,
+            "gripper_z": 1.1565087198637838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28566545396205045,
+              -0.07030336994007452,
+              1.1565087198637838
+            ],
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+              0.004611509941756575,
+              0.00462629654953714,
+              0.007992421379773962
+            ],
+            "object_to_gripper_xy": 0.006532123981307992,
+            "object_to_gripper_z": 0.007992421379773962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29027696390380703,
+              -0.08949619702672916,
+              1.1645011412435577
+            ],
+            "finger_b": [
+              0.2796724285484824,
+              -0.06567707339053738,
+              1.1645011412435577
+            ],
+            "finger_midpoint": [
+              0.2849746962261447,
+              -0.07758663520863326,
+              1.1645011412435577
+            ],
+            "object_minus_finger_midpoint": [
+              0.005302267677662342,
+              0.011909561818095882,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09170488870220908,
+            "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": 1.1645011412435577,
+            "object_top_z": 1.2144752955770874,
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+            "object_projection_between_fingers": 0.834576284548464,
+            "object_to_finger_line_xy": 0.009687788840522522,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835244435110454,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1470527415059713,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28813436067642095,
+              -0.34418842222181095,
+              0.8515395571197445
+            ],
+            "target_position": [
+              0.2801526868557268,
+              -0.3451849926448941,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008043647778720698,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18322858610440185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395571197445,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577668028406885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08736432567249007,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15063527918361563,
+            "release_required_pad_clearance": 0.05368216283624504,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.373923361854399,
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28868136168881026,
+            -0.34385831397082206,
+            1.043384938789012
+          ],
+          "object_origin_world": [
+            0.28868136168881026,
+            -0.34385831397082206,
+            1.043384938789012
+          ],
+          "frame_world": [
+            0.28867964452256895,
+            -0.3438640906755283,
+            1.0432679377317264
+          ],
+          "center_minus_frame": [
+            1.7171662413106858e-06,
+            5.7767047062506904e-06,
+            0.00011700105728551513
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2526461249490392,
+              0.16376333976201365,
+              0.8317190317506358
+            ],
+            "target_position": [
+              0.26572380075267993,
+              0.20966863272121433,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773176642546523,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16689732226970103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317190317506358,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567233914559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13667052430772475,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ef984ad4d7f8c17611c26ff0c765b4d81e2d54612e52d4b1744886038c9b54b",
+    "visual_seed": 1357696984789271182,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11777354ef58422a8ab46ad78162e8f30d99e6dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2967688836859799,
+              -0.06350125565752623,
+              1.164142067739117
+            ],
+            "current_z": 1.164142067739117,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30303555972435103,
+            "gripper_z": 1.1562382559686368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2921158833340508,
+              -0.06804999123139517,
+              1.1562382559686368
+            ],
+            "object_minus_gripper": [
+              0.004653000351929115,
+              0.004548735573868937,
+              0.007903811770480162
+            ],
+            "object_to_gripper_xy": 0.0065070275545776836,
+            "object_to_gripper_z": 0.007903811770480162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2967688836859799,
+              -0.08737753376274582,
+              1.164142067739117
+            ],
+            "finger_b": [
+              0.28633377039317043,
+              -0.06350125565752623,
+              1.164142067739117
+            ],
+            "finger_midpoint": [
+              0.2915513270395752,
+              -0.07543939471013603,
+              1.164142067739117
+            ],
+            "object_minus_finger_midpoint": [
+              0.00521755664640472,
+              0.011938139052609792,
+              0.0
+            ],
+            "finger_gap": 0.026057019123291086,
+            "fingertip_max_gap": 0.09241005136907068,
+            "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": 1.164142067739117,
+            "object_top_z": 1.2140236188493034,
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+            "fingertip_min_top_clearance": 0.014964465333055899,
+            "object_projection_between_fingers": 0.8396219703339786,
+            "object_to_finger_line_xy": 0.009561787012540096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048705025684535344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.070237056800881,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28270306062656103,
+              -0.3454504275255739,
+              0.8515395582537924
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+            "target_position": [
+              0.27580840481522273,
+              -0.34557823140297333,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006895840237991258,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853490815973264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395582537924,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570530033784949,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08802174342004072,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15260443951849076,
+            "release_required_pad_clearance": 0.054010871710020364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28040721574219646,
+            -0.34737671270263204,
+            1.043436976759337
+          ],
+          "object_origin_world": [
+            0.28040721574219646,
+            -0.34737671270263204,
+            1.043436976759337
+          ],
+          "frame_world": [
+            0.2804056978832523,
+            -0.34738217293489687,
+            1.043322577411513
+          ],
+          "center_minus_frame": [
+            1.5178589441444679e-06,
+            5.460232264831166e-06,
+            0.00011439934782409011
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25017317253468463,
+              0.15704226375900088,
+              0.8328302396529232
+            ],
+            "target_position": [
+              0.2640694443720112,
+              0.2024335400196443,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047470773445846944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16393892790475598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328302396529232,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675781050504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13361271157348395,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "workflow_spec_digest": "a3b71153bf90c32d1c56a925d878458c03dfa16e2fc75b60e744a753b03f244e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8191f50b9f2163f2865eafce577b65280926577a7323700b910c7a18ee398a89",
+    "visual_seed": 905453228878224824,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434,
+      398862745338253674,
+      3669780516618446728
+    ],
+    "runtime_workflow_digest": "c54543e754f730104ea1108db676393c757c9fb2a8a06a1cab575d270a50229c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95bd9c8b65e974e24dcbac45e9c8a0a0d3234e5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00006/results/episode_6_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.29618929955446055,
+              -0.06415169280455713,
+              1.1652579072199525
+            ],
+            "current_z": 1.1652579072199525,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3041514588098313,
+            "gripper_z": 1.1573181063239804,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29146210243513027,
+              -0.06881288354270665,
+              1.1573181063239804
+            ],
+            "object_minus_gripper": [
+              0.004727197119330284,
+              0.004661190738149523,
+              0.007939800895972127
+            ],
+            "object_to_gripper_xy": 0.006638756788918798,
+            "object_to_gripper_z": 0.007939800895972127,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29618929955446055,
+              -0.08803130578412786,
+              1.1652579072199525
+            ],
+            "finger_b": [
+              0.28551668007054326,
+              -0.06415169280455713,
+              1.1652579072199525
+            ],
+            "finger_midpoint": [
+              0.2908529898125019,
+              -0.0760914992943425,
+              1.1652579072199525
+            ],
+            "object_minus_finger_midpoint": [
+              0.005336309741958645,
+              0.011939806489785376,
+              0.0
+            ],
+            "finger_gap": 0.026156083856391312,
+            "fingertip_max_gap": 0.09172330482876775,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013078041928195663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652579072199525,
+            "object_top_z": 1.2152318498630308,
+            "finger_top_clearance": 0.049973942643078306,
+            "fingertip_min_top_clearance": 0.014992182792923458,
+            "object_projection_between_fingers": 0.8335067583778224,
+            "object_to_finger_line_xy": 0.009743737791691454,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836165241438388,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2484166479299699,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2866893381841712,
+              -0.3421483563814681,
+              0.8515395965134408
+            ],
+            "target_position": [
+              0.2793060139579761,
+              -0.3426750912139314,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007402089314028129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18445772991909268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395965134408,
+            "min_z": 0.5774145980897916,
+            "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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+}
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+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9aae0afb1639fbdd97c846d3a89c8885fa20aec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,30 @@
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d8a964e38da6737e746d6a0a7735a85838b0f821
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  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:
+      - 0.3424
+      - 0.3424
+      'y':
+      - 0.1141
+      - 0.1141
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2695
+      - 0.2695
+      'y':
+      - -0.0837
+      - -0.0837
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.208
+      - 0.208
+      'y':
+      - -0.3276
+      - -0.3276
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2797
+      - 0.2797
+      'y':
+      - 0.3178
+      - 0.3178
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_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_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e541a2404f7e42f62138accd06c4f0b0691d1e6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37520506718594865,
+              0.1141787164818646,
+              1.163102978327823
+            ],
+            "current_z": 1.163102978327823,
+            "required_z": 0.8611066606842428,
+            "initial_z": 0.7611066606842428,
+            "lift_margin": 0.30199631764358026,
+            "gripper_z": 1.1526869862264533,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3695706313344611,
+              0.10898872910277153,
+              1.1526869862264533
+            ],
+            "object_minus_gripper": [
+              0.00563443585148754,
+              0.0051899873790930695,
+              0.010415992101369786
+            ],
+            "object_to_gripper_xy": 0.00766047233267463,
+            "object_to_gripper_z": 0.010415992101369786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37520506718594865,
+              0.08967102685735114,
+              1.163102978327823
+            ],
+            "finger_b": [
+              0.36375824084148106,
+              0.1141787164818646,
+              1.163102978327823
+            ],
+            "finger_midpoint": [
+              0.36948165401371486,
+              0.10192487166960787,
+              1.163102978327823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005723413172233793,
+              0.012253844812256734,
+              0.0
+            ],
+            "finger_gap": 0.02704915311228583,
+            "fingertip_max_gap": 0.09118233678573998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013524576556142915,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163102978327823,
+            "object_top_z": 1.2129990841181244,
+            "finger_top_clearance": 0.04989610579030135,
+            "fingertip_min_top_clearance": 0.014968831737090437,
+            "object_projection_between_fingers": 0.8209135019069377,
+            "object_to_finger_line_xy": 0.010371314254141848,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809116839286999,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8439952586431446,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26865221465899164,
+              -0.32730922517461836,
+              0.8515395691073954
+            ],
+            "target_position": [
+              0.259936363702409,
+              -0.32778909905788056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008729051313928636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18501149124108254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691073954,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563645628318731,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087180063436804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15266390284402104,
+            "release_required_pad_clearance": 0.053590031718402,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.190788069899954,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007088899612426758,
+            "max_z_decrease": 0.007088899612426758,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508840182518255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007088899612426758,
+            "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": 0.0211154262418227,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007088899612426758,
+            "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": 0.007088908818588908,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11563628911972043,
+              -0.3840505480766296,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11563628911972043,
+              -0.3840505480766296,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11513607936044473,
+              -0.38318740613231705,
+              0.8077508276999008
+            ],
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+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37945c41b44804ec69313de6bf731915e4cbc94cdc5ee7b18352a6627e03f8c1",
+    "visual_seed": 344123679128205648,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d502a57624219152ba15181d7fc30baf10ae44d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_12_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.37342840955126455,
+              0.11449692238019148,
+              1.1651107161362375
+            ],
+            "current_z": 1.1651107161362375,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30400402930753734,
+            "gripper_z": 1.1547028219416828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3681809694844974,
+              0.10956241168768575,
+              1.1547028219416828
+            ],
+            "object_minus_gripper": [
+              0.0052474400667671395,
+              0.0049345106925057225,
+              0.010407894194554679
+            ],
+            "object_to_gripper_xy": 0.007203125920651841,
+            "object_to_gripper_z": 0.010407894194554679,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37342840955126455,
+              0.09010372129358674,
+              1.1651107161362375
+            ],
+            "finger_b": [
+              0.3625688450911509,
+              0.11449692238019148,
+              1.1651107161362375
+            ],
+            "finger_midpoint": [
+              0.3679986273212077,
+              0.10230032183688911,
+              1.1651107161362375
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054297822300568566,
+              0.012196600543302363,
+              0.0
+            ],
+            "finger_gap": 0.026701280859069258,
+            "fingertip_max_gap": 0.09148235526889867,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013350640429534634,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651107161362375,
+            "object_top_z": 1.2149447300171312,
+            "finger_top_clearance": 0.0498340138808937,
+            "fingertip_min_top_clearance": 0.01495020416426811,
+            "object_projection_between_fingers": 0.8345904328448839,
+            "object_to_finger_line_xy": 0.009920855144989174,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048241177634449336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2611725741589113,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "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_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2680594745898341,
+              -0.33120980664299327,
+              0.8515396024201443
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+            "target_position": [
+              0.2615260726990887,
+              -0.3308082207996332,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006545732308579615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1826875571832475,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396024201443,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758614715368496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08680774936697512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496751837686152,
+            "release_required_pad_clearance": 0.05340387468348756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8225730526213313,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007151305675506592,
+            "max_z_decrease": 0.007151305675506592,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513122979235209,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007151305675506592,
+            "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": 0.021101416473957357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007151305675506592,
+            "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": 0.007151327513097097,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11722599714994428,
+              -0.38706967234611506,
+              0.7768088579177856
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+            "button_final": [
+              0.11722599714994428,
+              -0.38706967234611506,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11725381362034365,
+              -0.38535482663687937,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670429449202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13405916157081982,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1abe579cf1441b0d6b9befcbdcf8ba5980e889ac9e75aebe090a0d27c2e440d3",
+    "visual_seed": 3677476747159341859,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b07baf5b59f3c015e026ff737f762ba01a7e0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_13_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37318956674928944,
+              0.11392486917386185,
+              1.1634267747275957
+            ],
+            "current_z": 1.1634267747275957,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3023203859221192,
+            "gripper_z": 1.1529621376524246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3680165106889377,
+              0.10899466141504045,
+              1.1529621376524246
+            ],
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+              0.005173056060351733,
+              0.0049302077588214005,
+              0.01046463707517109
+            ],
+            "object_to_gripper_xy": 0.007146149840906257,
+            "object_to_gripper_z": 0.01046463707517109,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37318956674928944,
+              0.08976033439720485,
+              1.1634267747275957
+            ],
+            "finger_b": [
+              0.3621044694304889,
+              0.11392486917386185,
+              1.1634267747275957
+            ],
+            "finger_midpoint": [
+              0.3676470180898892,
+              0.10184260178553335,
+              1.1634267747275957
+            ],
+            "object_minus_finger_midpoint": [
+              0.005542548659400237,
+              0.012082267388328502,
+              0.0
+            ],
+            "finger_gap": 0.026585787999221396,
+            "fingertip_max_gap": 0.0909685363163549,
+            "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": 1.1634267747275957,
+            "object_top_z": 1.2132908228586334,
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+            "fingertip_min_top_clearance": 0.014959214439311351,
+            "object_projection_between_fingers": 0.8261478980174571,
+            "object_to_finger_line_xy": 0.0100755418523095,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047984268158177454,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6980834649644313,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "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": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2722554561474302,
+              -0.3225418597725032,
+              0.8515395800282295
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+            "target_position": [
+              0.2632549014153218,
+              -0.32306160042838034,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009015548559852024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18667658476910143,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395800282295,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520649030421407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541049771797275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15525404235224832,
+            "release_required_pad_clearance": 0.05270524885898638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4647800919841915,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0068985819816589355,
+            "max_z_decrease": 0.0068985819816589355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510404352830477,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068985819816589355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2494392072000265,
+              0.16512082422314397,
+              0.8324606977411602
+            ],
+            "target_position": [
+              0.2649596994970775,
+              0.21017987822836975,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04765715086939915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16477852288455977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324606977411602,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671809745459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13502444677529693,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5527ef599309bf2b416f2e1b9425b6d882572bea47f73866ec8dbd105512e91",
+    "visual_seed": 8329981044090069012,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1395868d9f40f748ac67fda70e1ba2bc0330d351
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37496336168815514,
+              0.10823495475783958,
+              1.164724075470751
+            ],
+            "current_z": 1.164724075470751,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3036176270606301,
+            "gripper_z": 1.1543342888230343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3696469388751459,
+              0.10309289041784568,
+              1.1543342888230343
+            ],
+            "object_minus_gripper": [
+              0.005316422813009258,
+              0.005142064339993896,
+              0.010389786647716726
+            ],
+            "object_to_gripper_xy": 0.007396294829394116,
+            "object_to_gripper_z": 0.010389786647716726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37496336168815514,
+              0.0839450523605711,
+              1.164724075470751
+            ],
+            "finger_b": [
+              0.3635837870358922,
+              0.10823495475783958,
+              1.164724075470751
+            ],
+            "finger_midpoint": [
+              0.3692735743620237,
+              0.09609000355920534,
+              1.164724075470751
+            ],
+            "object_minus_finger_midpoint": [
+              0.005689787326131457,
+              0.012144951198634235,
+              0.0
+            ],
+            "finger_gap": 0.02682338676855056,
+            "fingertip_max_gap": 0.09187188709129177,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341169338427528,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164724075470751,
+            "object_top_z": 1.214657131217224,
+            "finger_top_clearance": 0.049933055746473,
+            "fingertip_min_top_clearance": 0.014979916723941932,
+            "object_projection_between_fingers": 0.8200197565572265,
+            "object_to_finger_line_xy": 0.010304767254445882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048435943545645885,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5084169643679701,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.264916445609751,
+              -0.33131358699123653,
+              0.8515395771888171
+            ],
+            "target_position": [
+              0.2578278869247724,
+              -0.33126693368428717,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007088712207547631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532331128809346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771888171,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585670664835509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08831144747600157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232365416840307,
+            "release_required_pad_clearance": 0.05415572373800079,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.326610231533652,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25394883058249257,
+              0.15604212882024368,
+              0.8319670028231442
+            ],
+            "target_position": [
+              0.268230223486454,
+              0.20229994575830806,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04841222790941144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16634881255187664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319670028231442,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671800927632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13545536092596078,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8601fa21fc28b27c29e6c5b5ea94b344c862221008af584c36c10eaf58719241",
+    "visual_seed": 8827007568869493299,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bbe986e04f0eecbf0b0243d67f2055c2789cb90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_18_success.json
@@ -0,0 +1,2008 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36938530379859624,
+              0.11627192537911052,
+              1.1634509797754626
+            ],
+            "current_z": 1.1634509797754626,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3023445909699862,
+            "gripper_z": 1.1531660136741735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36415048331411637,
+              0.11126627815083681,
+              1.1531660136741735
+            ],
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+              0.005234820484479874,
+              0.0050056472282737074,
+              0.01028496610128915
+            ],
+            "object_to_gripper_xy": 0.007242917207773009,
+            "object_to_gripper_z": 0.01028496610128915,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36938530379859624,
+              0.09197469320389576,
+              1.1634509797754626
+            ],
+            "finger_b": [
+              0.3582895702751579,
+              0.11627192537911052,
+              1.1634509797754626
+            ],
+            "finger_midpoint": [
+              0.3638374370368771,
+              0.10412330929150314,
+              1.1634509797754626
+            ],
+            "object_minus_finger_midpoint": [
+              0.005547866761719145,
+              0.01214861608760738,
+              0.0
+            ],
+            "finger_gap": 0.02671087407404417,
+            "fingertip_max_gap": 0.09144548687570767,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013355437037022072,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634509797754626,
+            "object_top_z": 1.2133463439299392,
+            "finger_top_clearance": 0.049895364154476596,
+            "fingertip_min_top_clearance": 0.014968609246342978,
+            "object_projection_between_fingers": 0.8274417068041037,
+            "object_to_finger_line_xy": 0.01009310338650692,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048222743437853835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.235108712730426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27230586319854333,
+              -0.3236962445227649,
+              0.8515395770272781
+            ],
+            "target_position": [
+              0.2646722426301239,
+              -0.32395462393487556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007637992072737365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18307509884684905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395770272781,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755685598751611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716673472706958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15079516796367062,
+            "release_required_pad_clearance": 0.05358336736353479,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.177528504898168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+          "object_origin_world": [
+            0.2698011049882392,
+            -0.32522503411248693,
+            1.0434181841938812
+          ],
+          "frame_world": [
+            0.2697997127548811,
+            -0.32522759953568015,
+            1.043313147340351
+          ],
+          "center_minus_frame": [
+            1.3922333580995705e-06,
+            2.5654231932126237e-06,
+            0.00010503685353024927
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25145612036392695,
+              0.15739406725964897,
+              0.8331457693050233
+            ],
+            "target_position": [
+              0.26806515106533435,
+              0.2020407077548898,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047635936102396186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16357454495471246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331457693050233,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567377914423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342796801614481,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93f672b4ff712ab403960f6a4c917f8b52b6b2abf41f46ac08c805aa9f027ab5",
+    "visual_seed": 8421595750966882564,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc95bac43633f54cb09371469cb7b231eb64f0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3709380673840166,
+              0.10686120040217692,
+              1.1636279284558342
+            ],
+            "current_z": 1.1636279284558342,
+            "required_z": 0.8611063292008315,
+            "initial_z": 0.7611063292008315,
+            "lift_margin": 0.30252159925500266,
+            "gripper_z": 1.1532438397619025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3658267304019911,
+              0.1018871761722404,
+              1.1532438397619025
+            ],
+            "object_minus_gripper": [
+              0.005111336982025483,
+              0.004974024229936522,
+              0.010384088693931703
+            ],
+            "object_to_gripper_xy": 0.007132088248459702,
+            "object_to_gripper_z": 0.010384088693931703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3709380673840166,
+              0.08279924725061363,
+              1.1636279284558342
+            ],
+            "finger_b": [
+              0.359700315741779,
+              0.10686120040217692,
+              1.1636279284558342
+            ],
+            "finger_midpoint": [
+              0.3653191915628978,
+              0.09483022382639528,
+              1.1636279284558342
+            ],
+            "object_minus_finger_midpoint": [
+              0.005618875821118752,
+              0.012030976575781643,
+              0.0
+            ],
+            "finger_gap": 0.026556819302029362,
+            "fingertip_max_gap": 0.09151662563046939,
+            "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": 1.1636279284558342,
+            "object_top_z": 1.2135398254108356,
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+            "fingertip_min_top_clearance": 0.014973569086500426,
+            "object_projection_between_fingers": 0.8209366346170233,
+            "object_to_finger_line_xy": 0.010182027089507693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482583128152347,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2498170738133199,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2668778830756573,
+              -0.32887904390868244,
+              0.851539554855917
+            ],
+            "target_position": [
+              0.2588747446372663,
+              -0.32923328246240446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008010974336308586,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847889769843596,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539554855917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544915406658845,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534858777821468,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288246028001345,
+            "release_required_pad_clearance": 0.05267429388910734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.40541755646185534,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2662154344274643,
+            -0.328426783387346,
+            1.0434558289895728
+          ],
+          "object_origin_world": [
+            0.2662154344274643,
+            -0.328426783387346,
+            1.0434558289895728
+          ],
+          "frame_world": [
+            0.26621407732539826,
+            -0.3284293704138372,
+            1.0433512979454278
+          ],
+          "center_minus_frame": [
+            1.3571020660574362e-06,
+            2.5870264911964647e-06,
+            0.00010453104414498426
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25165351060245184,
+              0.15607604348772738,
+              0.8315512795785341
+            ],
+            "target_position": [
+              0.26806263970155875,
+              0.20176199329901845,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04854343959744677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16598918847921756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315512795785341,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673501328675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13621186592547116,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 337,
+            "max_placed_release_frames": 337
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96788977bff980fd51aecef397a476fc181f477d37c0ff21deda266620cf3e94",
+    "visual_seed": 8399974791920211985,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c3f24b71c1deac6dc35d019ef1a7331f0f37b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_1_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.37483360710270086,
+              0.10646411982106722,
+              1.1631763557024648
+            ],
+            "current_z": 1.1631763557024648,
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+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3020699072923435,
+            "gripper_z": 1.152822706601674,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3696663615376988,
+              0.10155722846199568,
+              1.152822706601674
+            ],
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+              0.005167245565002088,
+              0.004906891359071547,
+              0.01035364910079073
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+            "object_to_gripper_xy": 0.007125869037441311,
+            "object_to_gripper_z": 0.01035364910079073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37483360710270086,
+              0.08210983737807753,
+              1.1631763557024648
+            ],
+            "finger_b": [
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+              0.10646411982106722,
+              1.1631763557024648
+            ],
+            "finger_midpoint": [
+              0.36943441079204986,
+              0.09428697859957239,
+              1.1631763557024648
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012177141221494839,
+              0.0
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+            "finger_gap": 0.026640877547796808,
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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": 1.2130318013170807,
+            "finger_top_clearance": 0.049855445614615856,
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+            "object_to_finger_line_xy": 0.009871563102891555,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048358973833315624,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4530860795120417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2656730084645461,
+              -0.3315583417851242,
+              0.8515396013707234
+            ],
+            "target_position": [
+              0.25954373253739155,
+              -0.3308929789915302,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006165284343669455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18390277542525182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396013707234,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583746781568868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08869005482333962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15070736341720395,
+            "release_required_pad_clearance": 0.05434502741166981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7127127854835615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2642329796816517,
+            -0.33193831527941475,
+            1.043430252064991
+          ],
+          "object_origin_world": [
+            0.2642329796816517,
+            -0.33193831527941475,
+            1.043430252064991
+          ],
+          "frame_world": [
+            0.2642315741045046,
+            -0.3319414459329778,
+            1.043326101576746
+          ],
+          "center_minus_frame": [
+            1.4055771471177536e-06,
+            3.1306535630548638e-06,
+            0.00010415048824485851
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2567322752327236,
+              0.16164795461117756,
+              0.8314518840801975
+            ],
+            "target_position": [
+              0.2720617573912684,
+              0.20784629465216242,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048675246746078336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167456199328904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314518840801975,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675348372747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13649525790526634,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfde05870aed6cc2355a014591d11a3f4b100be6f8d5e956fee05109a949f677",
+    "visual_seed": 581968252166043735,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad756f93d787e45aa17f8bdf6fe4fe45d96f000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_23_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3744498692711327,
+              0.10776923538613863,
+              1.1628966686242825
+            ],
+            "current_z": 1.1628966686242825,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30178998179558225,
+            "gripper_z": 1.1525379355295882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3692742095386452,
+              0.10286821682290145,
+              1.1525379355295882
+            ],
+            "object_minus_gripper": [
+              0.005175659732487514,
+              0.004901018563237172,
+              0.010358733094694372
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+            "object_to_gripper_xy": 0.007127933545122884,
+            "object_to_gripper_z": 0.010358733094694372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3744498692711327,
+              0.08339378474429145,
+              1.1628966686242825
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+            "finger_b": [
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+              0.10776923538613863,
+              1.1628966686242825
+            ],
+            "finger_midpoint": [
+              0.36906540463916154,
+              0.09558151006521504,
+              1.1628966686242825
+            ],
+            "object_minus_finger_midpoint": [
+              0.005384464631971175,
+              0.01218772532092359,
+              0.0
+            ],
+            "finger_gap": 0.026648310105613113,
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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": 1.2127580556246693,
+            "finger_top_clearance": 0.04986138700038678,
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+            "object_to_finger_line_xy": 0.009850437145861625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835363949792988,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4451697529447527,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2649576537807716,
+              -0.3291583592209729,
+              0.8515395678175273
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+            "target_position": [
+              0.2585083722864867,
+              -0.3284932959007545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006483482167201909,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18205441443475248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395678175273,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562664669825721,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08729058558865187,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1495709395485429,
+            "release_required_pad_clearance": 0.053645292794325936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.300581149556192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26294322787619046,
+            -0.32910868794764425,
+            1.0435465283978171
+          ],
+          "object_origin_world": [
+            0.26294322787619046,
+            -0.32910868794764425,
+            1.0435465283978171
+          ],
+          "frame_world": [
+            0.2629418502448034,
+            -0.3291113652083911,
+            1.0434431848272698
+          ],
+          "center_minus_frame": [
+            1.3776313870783596e-06,
+            2.677260746875021e-06,
+            0.00010334357054730958
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2515888261780867,
+              0.1635080768377821,
+              0.8319894366508407
+            ],
+            "target_position": [
+              0.26786031421988715,
+              0.20947485371837704,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04876172576811503,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16684159241604113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319894366508407,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675584101762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13714399441194297,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 332,
+            "max_placed_release_frames": 332
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "711ff2ddc011d5b3d11658f29a706e623b06cc9820ec942550b88ed1ebdcc7f2",
+    "visual_seed": 8644364722474989395,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b5024597b8031a6c0b8e2d5094291179f12a4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37367768665388157,
+              0.10764223666778687,
+              1.163234045927306
+            ],
+            "current_z": 1.163234045927306,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3021273590986059,
+            "gripper_z": 1.1529692125981443,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.368442289711593,
+              0.10251666733021778,
+              1.1529692125981443
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+              0.005235396942288584,
+              0.005125569337569094,
+              0.010264833329161727
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+            "object_to_gripper_xy": 0.007326721106849444,
+            "object_to_gripper_z": 0.010264833329161727,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37367768665388157,
+              0.08341866381950945,
+              1.163234045927306
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+            "finger_b": [
+              0.3623050710080329,
+              0.10764223666778687,
+              1.163234045927306
+            ],
+            "finger_midpoint": [
+              0.3679913788309572,
+              0.09553045024364816,
+              1.163234045927306
+            ],
+            "object_minus_finger_midpoint": [
+              0.005686307822924341,
+              0.01211178642413871,
+              0.0
+            ],
+            "finger_gap": 0.026760378699936315,
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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": 1.2132033443374421,
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+            "object_to_finger_line_xy": 0.0102945248518972,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4617272363202956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2726923214809161,
+              -0.32870816958678917,
+              0.8515396057000263
+            ],
+            "target_position": [
+              0.2655647371725002,
+              -0.328760890785321,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007127779289396631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473864806314094,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396057000263,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07592254344248496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08777153184439378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15149328384009553,
+            "release_required_pad_clearance": 0.05388576592219689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7811586511482034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27208968800115285,
+            -0.33034994937467443,
+            1.0433154882960731
+          ],
+          "object_origin_world": [
+            0.27208968800115285,
+            -0.33034994937467443,
+            1.0433154882960731
+          ],
+          "frame_world": [
+            0.2721153812919995,
+            -0.3303479472871125,
+            1.0436300873108655
+          ],
+          "center_minus_frame": [
+            -2.5693290846673378e-05,
+            -2.002087561958632e-06,
+            -0.0003145990147923605
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25115165768014824,
+              0.1618230028491353,
+              0.8320863756032115
+            ],
+            "target_position": [
+              0.2659200431941373,
+              0.20755130705992086,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805395942775111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16527080809779082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320863756032115,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671955878893,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13468785266544744,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 315,
+            "max_placed_release_frames": 315
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a8b7bd9d44232ef6481743a624c0657264984f3589cfe478ff1c8c621efd2dd",
+    "visual_seed": 438170123642200073,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b9d05d40d556fd3645dbd8902513763ce0b194
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_2_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.37486614760214915,
+              0.11218807637998088,
+              1.1638052661630187
+            ],
+            "current_z": 1.1638052661630187,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3026988177528973,
+            "gripper_z": 1.1534446351643504,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3694814532949539,
+              0.10705151706838115,
+              1.1534446351643504
+            ],
+            "object_minus_gripper": [
+              0.005384694307195237,
+              0.005136559311599731,
+              0.010360630998668352
+            ],
+            "object_to_gripper_xy": 0.007441718507409609,
+            "object_to_gripper_z": 0.010360630998668352,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37486614760214915,
+              0.0878744488354689,
+              1.1638052661630187
+            ],
+            "finger_b": [
+              0.3634649620749941,
+              0.11218807637998088,
+              1.1638052661630187
+            ],
+            "finger_midpoint": [
+              0.3691655548385716,
+              0.10003126260772488,
+              1.1638052661630187
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700592763577539,
+              0.012156813772255998,
+              0.0
+            ],
+            "finger_gap": 0.026854040958445357,
+            "fingertip_max_gap": 0.09142186644946695,
+            "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": 1.2136258096460195,
+            "finger_top_clearance": 0.0498205434830008,
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+            "object_projection_between_fingers": 0.8197477345548136,
+            "object_to_finger_line_xy": 0.010322624401373343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821093322473348,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3048197220623952,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27382262984892636,
+              -0.32740560062915125,
+              0.8515395656145613
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+            "target_position": [
+              0.2655434563485987,
+              -0.32780608398932487,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00828885400826335,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348769773796575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395656145613,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526830123120495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635014869263614,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519330946958302,
+            "release_required_pad_clearance": 0.053175074346318074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3739911436647958,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2718047423902745,
+            -0.3261402396868408,
+            1.043379128497046
+          ],
+          "object_origin_world": [
+            0.2718047423902745,
+            -0.3261402396868408,
+            1.043379128497046
+          ],
+          "frame_world": [
+            0.2718031901259035,
+            -0.326143413552963,
+            1.043273454615402
+          ],
+          "center_minus_frame": [
+            1.5522643710408346e-06,
+            3.1738661221969444e-06,
+            0.00010567388164384184
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2579449861156252,
+              0.1574070383973738,
+              0.832274551244547
+            ],
+            "target_position": [
+              0.2722711318867224,
+              0.20311988457527352,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047905143339093015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1676673923454093,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832274551244547,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674886425952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365478286161864,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d70234234ef0c60916eab17359440d6364eb36ae0205db48af7e0bdafe5a7fc",
+    "visual_seed": 6013564916626067382,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79bc448d7244052d0009034cb9fca3f0ea64bdc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3674336492789707,
+              0.11437105957483952,
+              1.165539581950257
+            ],
+            "current_z": 1.165539581950257,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3044328355169119,
+            "gripper_z": 1.1552123485671104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36229005242958795,
+              0.10936413424278912,
+              1.1552123485671104
+            ],
+            "object_minus_gripper": [
+              0.005143596849382759,
+              0.0050069253320503965,
+              0.010327233383146561
+            ],
+            "object_to_gripper_xy": 0.007178153650466687,
+            "object_to_gripper_z": 0.010327233383146561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3674336492789707,
+              0.09029271491005245,
+              1.165539581950257
+            ],
+            "finger_b": [
+              0.35614402184509664,
+              0.11437105957483952,
+              1.165539581950257
+            ],
+            "finger_midpoint": [
+              0.3617888355620337,
+              0.10233188724244599,
+              1.165539581950257
+            ],
+            "object_minus_finger_midpoint": [
+              0.005644813716937036,
+              0.01203917233239353,
+              0.0
+            ],
+            "finger_gap": 0.026593652802726485,
+            "fingertip_max_gap": 0.09155259636715476,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013296826401363235,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165539581950257,
+            "object_top_z": 1.2154842275749331,
+            "finger_top_clearance": 0.049944645624676154,
+            "fingertip_min_top_clearance": 0.014983393687402846,
+            "object_projection_between_fingers": 0.819779897933287,
+            "object_to_finger_line_xy": 0.010221820315785494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048276298183577385,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.144665824902501,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27052344203492096,
+              -0.32645635561084957,
+              0.8515395870664189
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+            "target_position": [
+              0.2620684190473845,
+              -0.326781932204136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008461289135697127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860280059509917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395870664189,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547640197844174,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563279089037036,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539494617653076,
+            "release_required_pad_clearance": 0.05281639544518518,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.678393965693093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27132414722051307,
+            -0.32781885895517854,
+            1.0433798138770096
+          ],
+          "object_origin_world": [
+            0.27132414722051307,
+            -0.32781885895517854,
+            1.0433798138770096
+          ],
+          "frame_world": [
+            0.27132273062607115,
+            -0.32782179261094685,
+            1.0432740716825486
+          ],
+          "center_minus_frame": [
+            1.4165944419164411e-06,
+            2.933655768311283e-06,
+            0.00010574219446102262
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25553056151020553,
+              0.1596672350480641,
+              0.831850809340032
+            ],
+            "target_position": [
+              0.27126815063786514,
+              0.20537693346513536,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04834302680770657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16514802177611046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831850809340032,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668770026285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358205429331929,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9835b4f918828d233db36a79d5889a3156a73a2f94804ea6404634d89870eef",
+    "visual_seed": 4010392011279469743,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe393ab30a498817115bc19469debdffa949ea7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_39_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3673486054329229,
+              0.11377864119031039,
+              1.1664245087138148
+            ],
+            "current_z": 1.1664245087138148,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3053180006990488,
+            "gripper_z": 1.1560919878854148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36226249097551066,
+              0.10872030554810845,
+              1.1560919878854148
+            ],
+            "object_minus_gripper": [
+              0.00508611445741225,
+              0.0050583356422019415,
+              0.010332520828399971
+            ],
+            "object_to_gripper_xy": 0.007173236350704501,
+            "object_to_gripper_z": 0.010332520828399971,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3673486054329229,
+              0.0898772781271152,
+              1.1664245087138148
+            ],
+            "finger_b": [
+              0.3558036806312662,
+              0.11377864119031039,
+              1.1664245087138148
+            ],
+            "finger_midpoint": [
+              0.36157614303209457,
+              0.1018279596587128,
+              1.1664245087138148
+            ],
+            "object_minus_finger_midpoint": [
+              0.005772462400828349,
+              0.01195068153159759,
+              0.0
+            ],
+            "finger_gap": 0.026543557503744285,
+            "fingertip_max_gap": 0.09156376826118331,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013271778751872135,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664245087138148,
+            "object_top_z": 1.2163656400353515,
+            "finger_top_clearance": 0.04994113132153677,
+            "fingertip_min_top_clearance": 0.014982339396460997,
+            "object_projection_between_fingers": 0.8108249056126045,
+            "object_to_finger_line_xy": 0.010395721793612589,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828188413059166,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.24193551348466,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26885870235032344,
+              -0.32524634550639236,
+              0.8515395647240764
+            ],
+            "target_position": [
+              0.260420646971664,
+              -0.32588796654031554,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008462414320068246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851230201822142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647240764,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582964059098894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600226883644789,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231553462730665,
+            "release_required_pad_clearance": 0.05300113441822395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.269359043041164,
+            -0.3249349984198716,
+            1.0434552924172993
+          ],
+          "object_origin_world": [
+            0.269359043041164,
+            -0.3249349984198716,
+            1.0434552924172993
+          ],
+          "frame_world": [
+            0.26935753771403376,
+            -0.3249375736180651,
+            1.0433506157561825
+          ],
+          "center_minus_frame": [
+            1.5053271302245541e-06,
+            2.5751981934662993e-06,
+            0.00010467666111679819
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2522481836038492,
+              0.15559365582185278,
+              0.8316388412367539
+            ],
+            "target_position": [
+              0.26771337460669503,
+              0.20134581804678786,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04829526354634873,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16509769647296146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316388412367539,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670851450737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353439225584295,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38f982dd2b7be1a44ae714e09bdf09d7afb461e68fb93b3f8b2a3eb32b59c094",
+    "visual_seed": 5658524383114985159,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9bf8659e25859eb17d99b0cb9ff2fb614bc162
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_41_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3678086465476254,
+              0.1062962965348404,
+              1.1634330334901244
+            ],
+            "current_z": 1.1634330334901244,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30232652547535843,
+            "gripper_z": 1.1531785613584058,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36242338441801214,
+              0.10132038455303663,
+              1.1531785613584058
+            ],
+            "object_minus_gripper": [
+              0.005385262129613266,
+              0.004975911981803777,
+              0.010254472131718595
+            ],
+            "object_to_gripper_xy": 0.007332172137593689,
+            "object_to_gripper_z": 0.010254472131718595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3678086465476254,
+              0.08186943189186344,
+              1.1634330334901244
+            ],
+            "finger_b": [
+              0.35681758179513584,
+              0.1062962965348404,
+              1.1634330334901244
+            ],
+            "finger_midpoint": [
+              0.3623131141713806,
+              0.09408286421335192,
+              1.1634330334901244
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495532376244783,
+              0.012213432321488485,
+              0.0
+            ],
+            "finger_gap": 0.026785727928875423,
+            "fingertip_max_gap": 0.09167107129300825,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392863964437712,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634330334901244,
+            "object_top_z": 1.2133895007761568,
+            "finger_top_clearance": 0.049956467286032424,
+            "fingertip_min_top_clearance": 0.014986940185809693,
+            "object_projection_between_fingers": 0.831626931618671,
+            "object_to_finger_line_xy": 0.010023145598437718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833553564650413,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3469859998870573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26654460699107346,
+              -0.3275434388682836,
+              0.8515395069255944
+            ],
+            "target_position": [
+              0.25948577351882407,
+              -0.3271909557454508,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007067628622163898,
+            "xy_threshold": 0.08,
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+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005929973161290992,
+              "rod_tip_xy_max_step": 3.210534678294909e-05,
+              "rod_tip_xy_range": 0.0005929882725555764,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26416672432800964,
+            -0.327204777004606,
+            1.0434692212471213
+          ],
+          "object_origin_world": [
+            0.26416672432800964,
+            -0.327204777004606,
+            1.0434692212471213
+          ],
+          "frame_world": [
+            0.26419238531480693,
+            -0.32720204847435624,
+            1.0437869612725337
+          ],
+          "center_minus_frame": [
+            -2.566098679729345e-05,
+            -2.728530249740402e-06,
+            -0.0003177400254124052
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2537477961045559,
+              0.1553435999774108,
+              0.8324918894356637
+            ],
+            "target_position": [
+              0.26924803789549356,
+              0.20046608550318717,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04771054595790568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16674512955438137,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324918894356637,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671940198118,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372124526443527,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f7a8e46508ecda22179e737c894c5dd30f453604f1520ba4fa129ec62506923",
+    "visual_seed": 3618727349020382197,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b7599109892bd012aa257c3b06f28283c5db43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_43_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3682567225499631,
+              0.1091120707304752,
+              1.1641614116255026
+            ],
+            "current_z": 1.1641614116255026,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30305478440144706,
+            "gripper_z": 1.1539496095793562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.362793484187349,
+              0.10407794588581873,
+              1.1539496095793562
+            ],
+            "object_minus_gripper": [
+              0.005463238362614087,
+              0.005034124844656471,
+              0.010211802046146357
+            ],
+            "object_to_gripper_xy": 0.00742895593999088,
+            "object_to_gripper_z": 0.010211802046146357,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3682567225499631,
+              0.08464112544133698,
+              1.1641614116255026
+            ],
+            "finger_b": [
+              0.3571544835858813,
+              0.1091120707304752,
+              1.1641614116255026
+            ],
+            "finger_midpoint": [
+              0.3627056030679222,
+              0.0968765980859061,
+              1.1641614116255026
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055511194820409004,
+              0.012235472644569104,
+              0.0
+            ],
+            "finger_gap": 0.026871674182297838,
+            "fingertip_max_gap": 0.09155538997553722,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013435837091148914,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641614116255026,
+            "object_top_z": 1.2140664884316408,
+            "finger_top_clearance": 0.049905076806138204,
+            "fingertip_min_top_clearance": 0.014971523041841494,
+            "object_projection_between_fingers": 0.8293007191197099,
+            "object_to_finger_line_xy": 0.010110359348430914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827769498776861,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.148696764634564,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2687638717829981,
+              -0.33165082247338806,
+              0.8515395562529234
+            ],
+            "target_position": [
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+                "rod_tip_xy": [
+                  0.2682662511162846,
+                  -0.3318339400683781
+                ],
+                "target_mouth_xy": [
+                  0.2687639048373355,
+                  -0.3316507745719068
+                ],
+                "gripper_position": [
+                  0.2682571853305586,
+                  -0.33183330668032923,
+                  1.0016178786216583
+                ],
+                "rod_tip_xy_dist": 0.0005302912644701542,
+                "target_xy_drift": 5.349920339652472e-08,
+                "depth": 0.01952443721327546,
+                "bottom_clearance": 0.07991610332705745,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005979674081269498,
+              "rod_tip_xy_max_step": 3.251524803706294e-05,
+              "rod_tip_xy_range": 0.0005979560075055715,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26780560783926,
+            -0.3331814334929959,
+            1.0434136226020172
+          ],
+          "object_origin_world": [
+            0.26780560783926,
+            -0.3331814334929959,
+            1.0434136226020172
+          ],
+          "frame_world": [
+            0.2678041762365339,
+            -0.3331845805570491,
+            1.0433077008281946
+          ],
+          "center_minus_frame": [
+            1.4316027260874442e-06,
+            3.14706405318832e-06,
+            0.00010592177382262591
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2540484186588329,
+              0.16103207023473706,
+              0.8320324216442027
+            ],
+            "target_position": [
+              0.2716922969400097,
+              0.20571380015933083,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04803918639876534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16213353837583638,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320324216442027,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672522620112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1330982106823112,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe26478bbe749581c9dbad2cc3fff69b4467565268c087b4cff06984a2169af4",
+    "visual_seed": 8726246551593850031,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd1eb658f8f871edb4e2c46e548581db8aa5ed1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_46_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37455101543946495,
+              0.1108531231435141,
+              1.1644224492074668
+            ],
+            "current_z": 1.1644224492074668,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30331600079734566,
+            "gripper_z": 1.1540445173022513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3693065384246864,
+              0.1057512218493173,
+              1.1540445173022513
+            ],
+            "object_minus_gripper": [
+              0.005244477014778537,
+              0.005101901294196798,
+              0.01037793190521552
+            ],
+            "object_to_gripper_xy": 0.007316688866848675,
+            "object_to_gripper_z": 0.01037793190521552,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37455101543946495,
+              0.08675720378055679,
+              1.1644224492074668
+            ],
+            "finger_b": [
+              0.3630564381902554,
+              0.1108531231435141,
+              1.1644224492074668
+            ],
+            "finger_midpoint": [
+              0.3688037268148602,
+              0.09880516346203544,
+              1.1644224492074668
+            ],
+            "object_minus_finger_midpoint": [
+              0.005747288624604774,
+              0.012047959681478662,
+              0.0
+            ],
+            "finger_gap": 0.026697165319265394,
+            "fingertip_max_gap": 0.09149816771718414,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348582659632702,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644224492074668,
+            "object_top_z": 1.2143660143410575,
+            "finger_top_clearance": 0.04994356513359066,
+            "fingertip_min_top_clearance": 0.014983069540077198,
+            "object_projection_between_fingers": 0.8146230617383853,
+            "object_to_finger_line_xy": 0.010374599819718191,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824908385859207,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1090682045615359,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "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": []
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+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0013043919537604753,
+                  0.002957468037684985
+                ],
+                "rod_tip_xy": [
+                  0.2758475345100943,
+                  -0.3274594359906857
+                ],
+                "target_mouth_xy": [
+                  0.27454314255633383,
+                  -0.3304169040283707
+                ],
+                "gripper_position": [
+                  0.2758591891551757,
+                  -0.3275203202443357,
+                  1.0009237053836042
+                ],
+                "rod_tip_xy_dist": 0.003232345210982785,
+                "target_xy_drift": 5.675720008855758e-08,
+                "depth": 0.019742787449868238,
+                "bottom_clearance": 0.07969775362943488,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005985745416779225,
+              "rod_tip_xy_max_step": 3.241701742512098e-05,
+              "rod_tip_xy_range": 0.0005985672352302817,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2754373494142695,
+            -0.3286950707759053,
+            1.0434036310566805
+          ],
+          "object_origin_world": [
+            0.2754373494142695,
+            -0.3286950707759053,
+            1.0434036310566805
+          ],
+          "frame_world": [
+            0.27543568116514017,
+            -0.32869867090488913,
+            1.04329525087374
+          ],
+          "center_minus_frame": [
+            1.668249129338495e-06,
+            3.60012898381612e-06,
+            0.00010838018294045959
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2547697557641491,
+              0.1597871047194106,
+              0.8311437924742181
+            ],
+            "target_position": [
+              0.2697895876359288,
+              0.20589075175025795,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04848857204539528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16520975332081203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311437924742181,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567120996849,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1351692311205783,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "082f62ed0c01e166f03bad1c1432a1a455976363e815a9e65221fa9e9d674614",
+    "visual_seed": 7398755669149838611,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95aac8a4faadaef6701821ba0a1de7423fb2746c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_48_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37129640085014853,
+              0.11232469275167997,
+              1.1653672259131156
+            ],
+            "current_z": 1.1653672259131156,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30426065829370474,
+            "gripper_z": 1.1550025028695807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36601756030850574,
+              0.10742602296996534,
+              1.1550025028695807
+            ],
+            "object_minus_gripper": [
+              0.005278840541642793,
+              0.004898669781714632,
+              0.010364723043534863
+            ],
+            "object_to_gripper_xy": 0.007201605591420268,
+            "object_to_gripper_z": 0.010364723043534863,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37129640085014853,
+              0.08792994514883375,
+              1.1653672259131156
+            ],
+            "finger_b": [
+              0.3604629756815111,
+              0.11232469275167997,
+              1.1653672259131156
+            ],
+            "finger_midpoint": [
+              0.36587968826582984,
+              0.10012731895025687,
+              1.1653672259131156
+            ],
+            "object_minus_finger_midpoint": [
+              0.005416712584318695,
+              0.012197373801423106,
+              0.0
+            ],
+            "finger_gap": 0.026692073945106604,
+            "fingertip_max_gap": 0.09174503553371902,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013346036972553285,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653672259131156,
+            "object_top_z": 1.2152157962448311,
+            "finger_top_clearance": 0.049848570331715525,
+            "fingertip_min_top_clearance": 0.01495457109951469,
+            "object_projection_between_fingers": 0.8352721853262868,
+            "object_to_finger_line_xy": 0.00990101680396706,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837251776685951,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.508525538258703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "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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+                "target_mouth_xy": [
+                  0.27005001953989666,
+                  -0.3310623457663369
+                ],
+                "gripper_position": [
+                  0.26940689216037045,
+                  -0.3286501608979817,
+                  1.0015731252682047
+                ],
+                "rod_tip_xy_dist": 0.002493427850436905,
+                "target_xy_drift": 0.0,
+                "depth": 0.019569308843642608,
+                "bottom_clearance": 0.07987125124149741,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000597630255147906,
+              "rod_tip_xy_max_step": 3.239749250149667e-05,
+              "rod_tip_xy_range": 0.0005976245497246552,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26895661963706124,
+            -0.33004708364651447,
+            1.0434356003509069
+          ],
+          "object_origin_world": [
+            0.26895661963706124,
+            -0.33004708364651447,
+            1.0434356003509069
+          ],
+          "frame_world": [
+            0.2689551915848691,
+            -0.3300501972473833,
+            1.0433303416891058
+          ],
+          "center_minus_frame": [
+            1.4280521921650191e-06,
+            3.1136008688537054e-06,
+            0.00010525866180111088
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2526515981385501,
+              0.1619910575976653,
+              0.8314671287277013
+            ],
+            "target_position": [
+              0.2688917634410513,
+              0.20767795220212826,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048487475781400204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16459024249708096,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314671287277013,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567400866039,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13408372043406014,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 332,
+            "max_placed_release_frames": 332
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b3c6886b9cb3024a33ff4f7fe4405f47864ef385904c2e494a9ab7a67c4c35e",
+    "visual_seed": 367944029489645317,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d586fb85a7e9920d40ded9a65b4e84ea56aa47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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": [
+              0.3707917320069428,
+              0.11493783840680766,
+              1.1644908787805877
+            ],
+            "current_z": 1.1644908787805877,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3033843707658217,
+            "gripper_z": 1.1542205041393176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3654493827438427,
+              0.10977924727840517,
+              1.1542205041393176
+            ],
+            "object_minus_gripper": [
+              0.005342349263100121,
+              0.005158591128402487,
+              0.010270374641270008
+            ],
+            "object_to_gripper_xy": 0.00742642296660911,
+            "object_to_gripper_z": 0.010270374641270008,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3707917320069428,
+              0.09079082879967416,
+              1.1644908787805877
+            ],
+            "finger_b": [
+              0.35918667756574907,
+              0.11493783840680766,
+              1.1644908787805877
+            ],
+            "finger_midpoint": [
+              0.36498920478634594,
+              0.1028643336032409,
+              1.1644908787805877
+            ],
+            "object_minus_finger_midpoint": [
+              0.005802527220596876,
+              0.012073504803566754,
+              0.0
+            ],
+            "finger_gap": 0.026790956712108436,
+            "fingertip_max_gap": 0.09153070094213958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013395478356054223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644908787805877,
+            "object_top_z": 1.2144839626774147,
+            "finger_top_clearance": 0.049993083896826995,
+            "fingertip_min_top_clearance": 0.014997925169048132,
+            "object_projection_between_fingers": 0.8123632426900705,
+            "object_to_finger_line_xy": 0.010459774322137658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826535047106979,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.124783875846364,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "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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+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005826278076401237,
+                  0.00024258472439864232
+                ],
+                "rod_tip_xy": [
+                  0.2696017357904213,
+                  -0.324744854910217
+                ],
+                "target_mouth_xy": [
+                  0.26901910798278117,
+                  -0.3249874396346156
+                ],
+                "gripper_position": [
+                  0.2695927303338935,
+                  -0.3247435406635647,
+                  1.0017084804433989
+                ],
+                "rod_tip_xy_dist": 0.0006311121221677669,
+                "target_xy_drift": 2.9479017423055483e-08,
+                "depth": 0.019434835272516993,
+                "bottom_clearance": 0.08000576174337992,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006025606002578347,
+              "rod_tip_xy_max_step": 3.271208505325596e-05,
+              "rod_tip_xy_range": 0.0006025544191879869,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2691777354165227,
+            -0.32615801487587837,
+            1.043401899980143
+          ],
+          "object_origin_world": [
+            0.2691777354165227,
+            -0.32615801487587837,
+            1.043401899980143
+          ],
+          "frame_world": [
+            0.2691762480974691,
+            -0.3261605708891621,
+            1.0432968832278127
+          ],
+          "center_minus_frame": [
+            1.487319053583569e-06,
+            2.5560132837498806e-06,
+            0.0001050167523304335
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2549569857985195,
+              0.15623074670247966,
+              0.8317523331135294
+            ],
+            "target_position": [
+              0.2709261731635234,
+              0.20127519918007297,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047791397176738436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16475335852755443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317523331135294,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671486360103,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13564932206581795,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ee6e1d7d00354211356277dccde7e2505428e11237e25033db33fa582263f9c",
+    "visual_seed": 3760360654446628754,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec5d84bbba006cf98f92baabc122f17cd1cbb68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37197527766983945,
+              0.11487898299900112,
+              1.1645900287942887
+            ],
+            "current_z": 1.1645900287942887,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30348358038416745,
+            "gripper_z": 1.1542353395641858,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3667661401056742,
+              0.10994830789530331,
+              1.1542353395641858
+            ],
+            "object_minus_gripper": [
+              0.005209137564165245,
+              0.00493067510369781,
+              0.010354689230102965
+            ],
+            "object_to_gripper_xy": 0.007172633487124713,
+            "object_to_gripper_z": 0.010354689230102965,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37197527766983945,
+              0.09048363040523709,
+              1.1645900287942887
+            ],
+            "finger_b": [
+              0.3611546574652891,
+              0.11487898299900112,
+              1.1645900287942887
+            ],
+            "finger_midpoint": [
+              0.3665649675675643,
+              0.10268130670211911,
+              1.1645900287942887
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410310102275162,
+              0.01219767629688201,
+              0.0
+            ],
+            "finger_gap": 0.026687432431487176,
+            "fingertip_max_gap": 0.09145302290074483,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343716215743569,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645900287942887,
+            "object_top_z": 1.2144598472838748,
+            "finger_top_clearance": 0.04986981848958605,
+            "fingertip_min_top_clearance": 0.014960945546875846,
+            "object_projection_between_fingers": 0.8356041983903165,
+            "object_to_finger_line_xy": 0.009891279194838008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822651145037242,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.173268504337701,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "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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+                  1.001890801792738
+                ],
+                "rod_tip_xy_dist": 0.0028155800775988018,
+                "target_xy_drift": 1.9250085944689415e-08,
+                "depth": 0.019253067634871113,
+                "bottom_clearance": 0.08018764536747536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009952416286709287,
+                  0.002638286394961442
+                ],
+                "rod_tip_xy": [
+                  0.26665539855268333,
+                  -0.3291615711225915
+                ],
+                "target_mouth_xy": [
+                  0.26765064018135426,
+                  -0.3317998575175529
+                ],
+                "gripper_position": [
+                  0.26664647577318845,
+                  -0.3291605811596288,
+                  1.0017743775243482
+                ],
+                "rod_tip_xy_dist": 0.002819762578884649,
+                "target_xy_drift": 4.1626751587576614e-08,
+                "depth": 0.019369154439144665,
+                "bottom_clearance": 0.08007153794609823,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005942073680735358,
+              "rod_tip_xy_max_step": 3.209425239057393e-05,
+              "rod_tip_xy_range": 0.0005942006532115619,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.266163711048734,
+            -0.3304539238736837,
+            1.043513845579493
+          ],
+          "object_origin_world": [
+            0.266163711048734,
+            -0.3304539238736837,
+            1.043513845579493
+          ],
+          "frame_world": [
+            0.26616232308452453,
+            -0.3304569509354467,
+            1.043409404908683
+          ],
+          "center_minus_frame": [
+            1.3879642094538625e-06,
+            3.027061762972405e-06,
+            0.00010444067080994657
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2543340238959319,
+              0.15839079137372183,
+              0.8340299069874598
+            ],
+            "target_position": [
+              0.2699894008430244,
+              0.2030838499522108,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04735567877726811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16480358002759452,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340299069874598,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671614396863,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1347883361774321,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3e315de3339cfdc06c5f30f997d4a57aea0d5a2f7b56c8c25086f7077194a71",
+    "visual_seed": 8795677204121132724,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c615d6281e6556f944a1bf1f19cc5f70d75ad4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_55_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3669154303170774,
+              0.11216650715470988,
+              1.1655574455565136
+            ],
+            "current_z": 1.1655574455565136,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.304450877937103,
+            "gripper_z": 1.1552997797231128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3618022957164772,
+              0.10713187794648157,
+              1.1552997797231128
+            ],
+            "object_minus_gripper": [
+              0.0051131346006002,
+              0.005034629208228308,
+              0.01025766583340082
+            ],
+            "object_to_gripper_xy": 0.007175767325394586,
+            "object_to_gripper_z": 0.01025766583340082,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3669154303170774,
+              0.08820136732639955,
+              1.1655574455565136
+            ],
+            "finger_b": [
+              0.35547028189056434,
+              0.11216650715470988,
+              1.1655574455565136
+            ],
+            "finger_midpoint": [
+              0.3611928561038209,
+              0.10018393724055472,
+              1.1655574455565136
+            ],
+            "object_minus_finger_midpoint": [
+              0.005722574213256504,
+              0.011982569914155167,
+              0.0
+            ],
+            "finger_gap": 0.026557849112745946,
+            "fingertip_max_gap": 0.09149422436081292,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327892455637296,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655574455565136,
+            "object_top_z": 1.2154333953124041,
+            "finger_top_clearance": 0.04987594975589049,
+            "fingertip_min_top_clearance": 0.01496278492676718,
+            "object_projection_between_fingers": 0.8142806905855738,
+            "object_to_finger_line_xy": 0.010327816128208721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824711218040646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1831371502090062,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "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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+                "depth": 0.019488355420201997,
+                "bottom_clearance": 0.07995236840128228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00035492201802989065,
+                  -0.0005759463840696033
+                ],
+                "rod_tip_xy": [
+                  0.2664680589003735,
+                  -0.3236069763398588
+                ],
+                "target_mouth_xy": [
+                  0.2661131368823436,
+                  -0.3230310299557892
+                ],
+                "gripper_position": [
+                  0.2664590656519057,
+                  -0.3236054705668634,
+                  1.0015260884082702
+                ],
+                "rod_tip_xy_dist": 0.0006765233744707281,
+                "target_xy_drift": 9.217192379446305e-08,
+                "depth": 0.01961916948580089,
+                "bottom_clearance": 0.07982145771969529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00034589766992637605,
+                  -0.0005744789810191997
+                ],
+                "rod_tip_xy": [
+                  0.26645906565190564,
+                  -0.3236054705668634
+                ],
+                "target_mouth_xy": [
+                  0.26611316798197926,
+                  -0.3230309915858442
+                ],
+                "gripper_position": [
+                  0.2664688785932665,
+                  -0.32366966532184827,
+                  1.0009364789073556
+                ],
+                "rod_tip_xy_dist": 0.0006705753482595033,
+                "target_xy_drift": 1.2557273261440092e-07,
+                "depth": 0.019733817947337418,
+                "bottom_clearance": 0.07970687259164877,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005966433416983755,
+              "rod_tip_xy_max_step": 3.233398628713855e-05,
+              "rod_tip_xy_range": 0.0005966315308392494,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2660408248513221,
+            -0.32492468054605256,
+            1.0435064359818367
+          ],
+          "object_origin_world": [
+            0.2660408248513221,
+            -0.32492468054605256,
+            1.0435064359818367
+          ],
+          "frame_world": [
+            0.2660393849121661,
+            -0.32492703942834794,
+            1.0434024901074472
+          ],
+          "center_minus_frame": [
+            1.4399391559671848e-06,
+            2.358882295383502e-06,
+            0.00010394587438944392
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2526689078548027,
+              0.16351261489956762,
+              0.8324402841287957
+            ],
+            "target_position": [
+              0.2669189521567665,
+              0.21005180439904952,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04867196237955294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16746360294274454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324402841287957,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670593247928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362340268557471,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00b7d0d118b731c460d7d31eb91bdbd739ff6389ce9461a58875a3c658cf8a21",
+    "visual_seed": 8286442640428756604,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83095f8ba63833ed841a9a461a4055bfe3b43359
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36961336425613533,
+              0.11392331856385866,
+              1.1645856469094795
+            ],
+            "current_z": 1.1645856469094795,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30347896008077946,
+            "gripper_z": 1.1542297208258037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36431207743738275,
+              0.10886266846417486,
+              1.1542297208258037
+            ],
+            "object_minus_gripper": [
+              0.005301286818752582,
+              0.005060650099683803,
+              0.01035592608367586
+            ],
+            "object_to_gripper_xy": 0.007328971371625731,
+            "object_to_gripper_z": 0.01035592608367586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36961336425613533,
+              0.08958818926273254,
+              1.1645856469094795
+            ],
+            "finger_b": [
+              0.35842365366468015,
+              0.11392331856385866,
+              1.1645856469094795
+            ],
+            "finger_midpoint": [
+              0.36401850896040777,
+              0.10175575391329561,
+              1.1645856469094795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594855295727563,
+              0.012167564650563054,
+              0.0
+            ],
+            "finger_gap": 0.026784475750386668,
+            "fingertip_max_gap": 0.09129927670607982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392237875193315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645856469094795,
+            "object_top_z": 1.2144619962487662,
+            "finger_top_clearance": 0.04987634933928664,
+            "fingertip_min_top_clearance": 0.014962904801786026,
+            "object_projection_between_fingers": 0.8254694699908695,
+            "object_to_finger_line_xy": 0.010166450768830588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814963835303991,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1036439399939344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "bottom_clearance": 0.07995923788035919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015704511386723241,
+                  0.0007412428247653979
+                ],
+                "rod_tip_xy": [
+                  0.26825628708463883,
+                  -0.3257918414686596
+                ],
+                "target_mouth_xy": [
+                  0.2666858359459665,
+                  -0.326533084293425
+                ],
+                "gripper_position": [
+                  0.2682472399938841,
+                  -0.32579064811325686,
+                  1.0015298497756187
+                ],
+                "rod_tip_xy_dist": 0.001736593707296956,
+                "target_xy_drift": 0.0,
+                "depth": 0.019614017395960137,
+                "bottom_clearance": 0.07982650671241365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015614040479174363,
+                  0.0007424361801681156
+                ],
+                "rod_tip_xy": [
+                  0.26824723999388395,
+                  -0.32579064811325686
+                ],
+                "target_mouth_xy": [
+                  0.2666858359459665,
+                  -0.326533084293425
+                ],
+                "gripper_position": [
+                  0.2682596617404414,
+                  -0.32585640661696014,
+                  1.000939437030796
+                ],
+                "rod_tip_xy_dist": 0.0017289285938047233,
+                "target_xy_drift": 0.0,
+                "depth": 0.01972999094611405,
+                "bottom_clearance": 0.07971053316225973,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005989646609276388,
+              "rod_tip_xy_max_step": 3.252668455022458e-05,
+              "rod_tip_xy_range": 0.0005989534753130456,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2678712329213401,
+            -0.3271380337690287,
+            1.0434305019814514
+          ],
+          "object_origin_world": [
+            0.2678712329213401,
+            -0.3271380337690287,
+            1.0434305019814514
+          ],
+          "frame_world": [
+            0.26786986057555606,
+            -0.327140470639207,
+            1.043326145374492
+          ],
+          "center_minus_frame": [
+            1.372345784012019e-06,
+            2.436870178257333e-06,
+            0.0001043566069593993
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2472101048741837,
+              0.1642345101447499,
+              0.8327938248289668
+            ],
+            "target_position": [
+              0.26428988681493293,
+              0.20888681848696122,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780740101105118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1639224808664186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327938248289668,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669168019823,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13449952195779036,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 337,
+            "max_placed_release_frames": 337
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51e4856f66cb9b7cab08a4145ec584343eba2450c9bf6a822a274f5836cc796d",
+    "visual_seed": 4166897196209210156,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f20f7a0171a9836ffe9e2732ed3daa8087dea8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_58_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37132524148472806,
+              0.11136116386175239,
+              1.164472266929672
+            ],
+            "current_z": 1.164472266929672,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3033657589149059,
+            "gripper_z": 1.1541352175532757,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36625570123234086,
+              0.10634578373712819,
+              1.1541352175532757
+            ],
+            "object_minus_gripper": [
+              0.005069540252387206,
+              0.0050153801246242,
+              0.010337049376396346
+            ],
+            "object_to_gripper_xy": 0.007131218420792451,
+            "object_to_gripper_z": 0.010337049376396346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37132524148472806,
+              0.08744434875130579,
+              1.164472266929672
+            ],
+            "finger_b": [
+              0.35987908994309903,
+              0.11136116386175239,
+              1.164472266929672
+            ],
+            "finger_midpoint": [
+              0.3656021657139136,
+              0.09940275630652909,
+              1.164472266929672
+            ],
+            "object_minus_finger_midpoint": [
+              0.00572307577081449,
+              0.011958407555223302,
+              0.0
+            ],
+            "finger_gap": 0.026514683293247607,
+            "fingertip_max_gap": 0.09126921557258541,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013257341646623792,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164472266929672,
+            "object_top_z": 1.2143578931435806,
+            "finger_top_clearance": 0.04988562621390846,
+            "fingertip_min_top_clearance": 0.014965687864172572,
+            "object_projection_between_fingers": 0.8136428350591475,
+            "object_to_finger_line_xy": 0.010324675091141336,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813460778629271,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0619210940115653,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "depth": 0.019473386098743717,
+                "bottom_clearance": 0.07996721064597678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007592845688750294,
+                  0.002380755535853707
+                ],
+                "rod_tip_xy": [
+                  0.27048711586048735,
+                  -0.31978131760639805
+                ],
+                "target_mouth_xy": [
+                  0.2712464004293624,
+                  -0.32216207314225176
+                ],
+                "gripper_position": [
+                  0.2704780643521224,
+                  -0.3197795858860086,
+                  1.0015381428233552
+                ],
+                "rod_tip_xy_dist": 0.0024989017543772724,
+                "target_xy_drift": 1.2263313711954867e-07,
+                "depth": 0.01960569493745523,
+                "bottom_clearance": 0.07983482826674981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00076833632080342,
+                  0.0023825170576646792
+                ],
+                "rod_tip_xy": [
+                  0.2704780643521224,
+                  -0.31977958588600874
+                ],
+                "target_mouth_xy": [
+                  0.2712464006729258,
+                  -0.3221621029436734
+                ],
+                "gripper_position": [
+                  0.27048734894205073,
+                  -0.3198463808545585,
+                  1.0009488595195861
+                ],
+                "rod_tip_xy_dist": 0.0025033434107067484,
+                "target_xy_drift": 9.38953692367158e-08,
+                "depth": 0.019721686861470356,
+                "bottom_clearance": 0.0797188270777015,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006037531332308416,
+              "rod_tip_xy_max_step": 3.26957781354935e-05,
+              "rod_tip_xy_range": 0.0006037371580260513,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27003578840052656,
+            -0.3211427186621895,
+            1.0434061274955178
+          ],
+          "object_origin_world": [
+            0.27003578840052656,
+            -0.3211427186621895,
+            1.0434061274955178
+          ],
+          "frame_world": [
+            0.270034330124147,
+            -0.3211449482233378,
+            1.0433019917776056
+          ],
+          "center_minus_frame": [
+            1.4582763795401021e-06,
+            2.2295611482592292e-06,
+            0.00010413571791212384
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24895731773175295,
+              0.16036408818207518,
+              0.8335268818863794
+            ],
+            "target_position": [
+              0.26448654872612826,
+              0.20498576298224608,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047246702289671746,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16587020447902776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335268818863794,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672183044074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13582709510651736,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27363b20ad33bcba0619bb4299a71d6e4b642c8a566b4de82031a5840028d8d3",
+    "visual_seed": 8286787433245933496,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b33c621e6688feeb6ed6596d852a14144d8394
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36901318453699894,
+              0.1083823545052122,
+              1.1657027445867563
+            ],
+            "current_z": 1.1657027445867563,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3045963557812801,
+            "gripper_z": 1.1554788363699289,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36370488607933293,
+              0.10329705772997233,
+              1.1554788363699289
+            ],
+            "object_minus_gripper": [
+              0.005308298457666005,
+              0.005085296775239875,
+              0.010223908216827393
+            ],
+            "object_to_gripper_xy": 0.007351073105875384,
+            "object_to_gripper_z": 0.010223908216827393,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36901318453699894,
+              0.08409423904475234,
+              1.1657027445867563
+            ],
+            "finger_b": [
+              0.35772160485119303,
+              0.1083823545052122,
+              1.1657027445867563
+            ],
+            "finger_midpoint": [
+              0.36336739469409596,
+              0.09623829677498227,
+              1.1657027445867563
+            ],
+            "object_minus_finger_midpoint": [
+              0.005645789842902982,
+              0.012144057730229932,
+              0.0
+            ],
+            "finger_gap": 0.026784553840255285,
+            "fingertip_max_gap": 0.09176321509099003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392276920127654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657027445867563,
+            "object_top_z": 1.2156216884750948,
+            "finger_top_clearance": 0.04991894388833851,
+            "fingertip_min_top_clearance": 0.014975683166501552,
+            "object_projection_between_fingers": 0.8222782527416007,
+            "object_to_finger_line_xy": 0.010239154729830047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838160754549502,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5283043180207587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "depth": 0.019333564627873057,
+                "bottom_clearance": 0.08010695850229521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001610371652321252,
+                  0.001362052017498172
+                ],
+                "rod_tip_xy": [
+                  0.2697791737995361,
+                  -0.33102782260248753
+                ],
+                "target_mouth_xy": [
+                  0.27138954545185734,
+                  -0.3323898746199857
+                ],
+                "gripper_position": [
+                  0.2697702137426762,
+                  -0.3310269891272862,
+                  1.0016739287438203
+                ],
+                "rod_tip_xy_dist": 0.00210914261181427,
+                "target_xy_drift": 9.72499942740134e-08,
+                "depth": 0.019467770206993085,
+                "bottom_clearance": 0.07997280790037886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016193305921576862,
+                  0.0013628570093433545
+                ],
+                "rod_tip_xy": [
+                  0.2697702137426762,
+                  -0.3310269891272861
+                ],
+                "target_mouth_xy": [
+                  0.27138954433483387,
+                  -0.3323898461366295
+                ],
+                "gripper_position": [
+                  0.2697611597108834,
+                  -0.33102624662024993,
+                  1.0015557035357987
+                ],
+                "rod_tip_xy_dist": 0.0021165091057243467,
+                "target_xy_drift": 1.2575520388404077e-07,
+                "depth": 0.019585968533441966,
+                "bottom_clearance": 0.07985467001571933,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005986919537980756,
+              "rod_tip_xy_max_step": 3.254755232720013e-05,
+              "rod_tip_xy_range": 0.0005986831078291552,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26928224505597237,
+            -0.3323072295696675,
+            1.043387623582412
+          ],
+          "object_origin_world": [
+            0.26928224505597237,
+            -0.3323072295696675,
+            1.043387623582412
+          ],
+          "frame_world": [
+            0.2692808348963809,
+            -0.33231029575719057,
+            1.04328180557607
+          ],
+          "center_minus_frame": [
+            1.4101595914861598e-06,
+            3.066187523048658e-06,
+            0.00010581800634201777
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25416890098978884,
+              0.1568379169106615,
+              0.833085422288197
+            ],
+            "target_position": [
+              0.26995416457504223,
+              0.2016516119252323,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04751254368390407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16402618158110252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833085422288197,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673827230467,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13455631284791386,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "489edfa0e698c7852c3c78b0da3151cae6977f134c86d545bd368cb5b5f4c3fe",
+    "visual_seed": 9037246509768742338,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04086619cc1190fb891ba1c87332a66cc4b7bca1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_61_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3692706476343256,
+              0.11251752708560757,
+              1.1640582618959328
+            ],
+            "current_z": 1.1640582618959328,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30295181348581146,
+            "gripper_z": 1.153706484403965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36413654192099987,
+              0.10748610942053786,
+              1.153706484403965
+            ],
+            "object_minus_gripper": [
+              0.005134105713325732,
+              0.005031417665069704,
+              0.010351777491967695
+            ],
+            "object_to_gripper_xy": 0.007188477251544961,
+            "object_to_gripper_z": 0.010351777491967695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3692706476343256,
+              0.0885350591092536,
+              1.1640582618959328
+            ],
+            "finger_b": [
+              0.3578362103032356,
+              0.11251752708560757,
+              1.1640582618959328
+            ],
+            "finger_midpoint": [
+              0.3635534289687806,
+              0.10052629309743058,
+              1.1640582618959328
+            ],
+            "object_minus_finger_midpoint": [
+              0.005717218665544976,
+              0.011991233988176989,
+              0.0
+            ],
+            "finger_gap": 0.02656887516089961,
+            "fingertip_max_gap": 0.09156700547920096,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013284437580449799,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640582618959328,
+            "object_top_z": 1.2139602595199457,
+            "finger_top_clearance": 0.04990199762401293,
+            "fingertip_min_top_clearance": 0.014970599287203845,
+            "object_projection_between_fingers": 0.8147819699569991,
+            "object_to_finger_line_xy": 0.010321326193141203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048283502739600484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.214014440995488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "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",
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+                "ridgebase_fr3",
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+              },
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0023308531597821536
+                ],
+                "rod_tip_xy": [
+                  0.27281717809574013,
+                  -0.3279072702042368
+                ],
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+                ],
+                "gripper_position": [
+                  0.27280804362727284,
+                  -0.32790628348222,
+                  1.0017122650426453
+                ],
+                "rod_tip_xy_dist": 0.0027057026265490582,
+                "target_xy_drift": 5.770175153080643e-08,
+                "depth": 0.019428577769701305,
+                "bottom_clearance": 0.08001196868941929,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013831607211695074,
+                  0.00233180849081549
+                ],
+                "rod_tip_xy": [
+                  0.27280804362727284,
+                  -0.32790628348221995
+                ],
+                "target_mouth_xy": [
+                  0.27419120434844235,
+                  -0.33023809197303544
+                ],
+                "gripper_position": [
+                  0.27279883078330075,
+                  -0.32790553393790417,
+                  1.0015934853368842
+                ],
+                "rod_tip_xy_dist": 0.002711173992650668,
+                "target_xy_drift": 8.910085092862495e-08,
+                "depth": 0.019547592408063585,
+                "bottom_clearance": 0.07989295460920787,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006062001853536243,
+              "rod_tip_xy_max_step": 3.285517729483024e-05,
+              "rod_tip_xy_range": 0.000606193793444948,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27233921520818716,
+            -0.3291990922389631,
+            1.0433964457656335
+          ],
+          "object_origin_world": [
+            0.27233921520818716,
+            -0.3291990922389631,
+            1.0433964457656335
+          ],
+          "frame_world": [
+            0.27233783936398026,
+            -0.3292024860099017,
+            1.0432895363694377
+          ],
+          "center_minus_frame": [
+            1.375844206896737e-06,
+            3.393770938608931e-06,
+            0.00010690939619584228
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.249899228360701,
+              0.15831634517614482,
+              0.8317911957891495
+            ],
+            "target_position": [
+              0.2666892912446829,
+              0.20338941738936306,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04809873231579032,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16391811534212317,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317911957891495,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672169937916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13439706232994494,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2f9e5e5b9c7c8546408ff0d63b80e2b1527d75fceadfbf3dd3afe90aa00ac65",
+    "visual_seed": 8270357460515395290,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d33bed860b8efc2dafd359035a3eec658b93ce8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "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": [
+              0.368157407327339,
+              0.11029279011455137,
+              1.164557069387103
+            ],
+            "current_z": 1.164557069387103,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3034504421630474,
+            "gripper_z": 1.1542755873839912,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.362820002970206,
+              0.10524149011903312,
+              1.1542755873839912
+            ],
+            "object_minus_gripper": [
+              0.00533740435713298,
+              0.005051299995518246,
+              0.010281482003111853
+            ],
+            "object_to_gripper_xy": 0.007348708520295573,
+            "object_to_gripper_z": 0.010281482003111853,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.368157407327339,
+              0.0859960058570147,
+              1.164557069387103
+            ],
+            "finger_b": [
+              0.35691775493465383,
+              0.11029279011455137,
+              1.164557069387103
+            ],
+            "finger_midpoint": [
+              0.36253758113099643,
+              0.09814439798578303,
+              1.164557069387103
+            ],
+            "object_minus_finger_midpoint": [
+              0.005619826196342548,
+              0.012148392128768337,
+              0.0
+            ],
+            "finger_gap": 0.026770571737743575,
+            "fingertip_max_gap": 0.09179345612981774,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013385285868871775,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164557069387103,
+            "object_top_z": 1.2145068755997297,
+            "finger_top_clearance": 0.04994980621262668,
+            "fingertip_min_top_clearance": 0.01498494186378797,
+            "object_projection_between_fingers": 0.8237251039851131,
+            "object_to_finger_line_xy": 0.01020103014571607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839672806490887,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4387964858069378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "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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+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00047101462199194977,
+                  0.002121672173379441
+                ],
+                "rod_tip_xy": [
+                  0.2670437330219962,
+                  -0.3261983891667178
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+                  0.26657271840000424,
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+                  0.26705387044054274,
+                  -0.32626923847206013,
+                  1.0015861419458352
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+                "rod_tip_xy_dist": 0.0021733263872283103,
+                "target_xy_drift": 6.0051005968105e-08,
+                "depth": 0.01917007344576327,
+                "bottom_clearance": 0.08027046816890182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00048115123722436426,
+                  0.002050790833244165
+                ],
+                "rod_tip_xy": [
+                  0.2670538704405428,
+                  -0.3262692384720601
+                ],
+                "target_mouth_xy": [
+                  0.26657271920331843,
+                  -0.32832002930530424
+                ],
+                "gripper_position": [
+                  0.2670416778937935,
+                  -0.32627481524879975,
+                  1.0014541034594822
+                ],
+                "rod_tip_xy_dist": 0.002106477997701574,
+                "target_xy_drift": 6.893747878653319e-08,
+                "depth": 0.0196736941494422,
+                "bottom_clearance": 0.0797668417095958,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005979500407561392,
+              "rod_tip_xy_max_step": 3.248588702186209e-05,
+              "rod_tip_xy_range": 0.0005979429446148659,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666086897733081,
+            -0.3275487584152545,
+            1.0434518051166406
+          ],
+          "object_origin_world": [
+            0.2666086897733081,
+            -0.3275487584152545,
+            1.0434518051166406
+          ],
+          "frame_world": [
+            0.26660726415314867,
+            -0.32755120920150127,
+            1.0433475456907375
+          ],
+          "center_minus_frame": [
+            1.4256201594231577e-06,
+            2.4507862467770813e-06,
+            0.00010425942590308601
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25525405084173763,
+              0.1611508191552567,
+              0.8319570071156476
+            ],
+            "target_position": [
+              0.2707285366118476,
+              0.20653705818903062,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047951750786391516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16591957384603184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319570071156476,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567071698783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13524068272300147,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e90188e6882c2acf9462f5207c24c24f935ec37c674853bfa9f76316d2f953f0",
+    "visual_seed": 5197816804770063768,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea178e14ed4bdd83dcf7f3b92b89b14c09c4fbd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3749416043132248,
+              0.10552064429047431,
+              1.165872742552142
+            ],
+            "current_z": 1.165872742552142,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30476623453737606,
+            "gripper_z": 1.1554882210242852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36973785947176274,
+              0.10066365350717772,
+              1.1554882210242852
+            ],
+            "object_minus_gripper": [
+              0.005203744841462077,
+              0.004856990783296586,
+              0.01038452152785685
+            ],
+            "object_to_gripper_xy": 0.007118238535204559,
+            "object_to_gripper_z": 0.01038452152785685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3749416043132248,
+              0.0811606023318642,
+              1.165872742552142
+            ],
+            "finger_b": [
+              0.3641891373902352,
+              0.10552064429047431,
+              1.165872742552142
+            ],
+            "finger_midpoint": [
+              0.36956537085173,
+              0.09334062331116925,
+              1.165872742552142
+            ],
+            "object_minus_finger_midpoint": [
+              0.005376233461494795,
+              0.012180020979305053,
+              0.0
+            ],
+            "finger_gap": 0.026627564461573112,
+            "fingertip_max_gap": 0.09164106446954698,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013313782230786546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165872742552142,
+            "object_top_z": 1.2157671141336701,
+            "finger_top_clearance": 0.049894371581528096,
+            "fingertip_min_top_clearance": 0.014968311474458429,
+            "object_projection_between_fingers": 0.8369377836303622,
+            "object_to_finger_line_xy": 0.009836819502609513,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832053223477349,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2292162516148517,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "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",
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+                "fr3_joint7",
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+              },
+              {
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+                "rod_tip_xy_delta": [
+                  0.0018125096929502704,
+                  -0.000161368393866268
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+                "rod_tip_xy": [
+                  0.26745722892711965,
+                  -0.32638059372587547
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+                  -0.326386455790888,
+                  1.0014787162272762
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+                "rod_tip_xy_dist": 0.0018196788578146593,
+                "target_xy_drift": 4.251720297607803e-08,
+                "depth": 0.019648882412499513,
+                "bottom_clearance": 0.07979175546349782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0018003078106809123,
+                  -0.0001672599221819171
+                ],
+                "rod_tip_xy": [
+                  0.26744499585758047,
+                  -0.3263864557908881
+                ],
+                "target_mouth_xy": [
+                  0.26564468804689956,
+                  -0.3262191958687062
+                ],
+                "gripper_position": [
+                  0.267457453608006,
+                  -0.3264536188917346,
+                  1.0008888640497564
+                ],
+                "rod_tip_xy_dist": 0.0018080608658911348,
+                "target_xy_drift": 2.2559547473170758e-09,
+                "depth": 0.019781088331904728,
+                "bottom_clearance": 0.07965950652744569,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006021930601733394,
+              "rod_tip_xy_max_step": 3.2632154848435854e-05,
+              "rod_tip_xy_range": 0.0006021883659599945,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2670517166824452,
+            -0.32769352146243896,
+            1.0434112174764656
+          ],
+          "object_origin_world": [
+            0.2670517166824452,
+            -0.32769352146243896,
+            1.0434112174764656
+          ],
+          "frame_world": [
+            0.26705043532578154,
+            -0.32769602670320885,
+            1.0433069603250313
+          ],
+          "center_minus_frame": [
+            1.2813566636626916e-06,
+            2.5052407698900048e-06,
+            0.00010425715143425052
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25267248940374243,
+              0.158675518658788,
+              0.8316827609951764
+            ],
+            "target_position": [
+              0.26919494171270936,
+              0.20465758973554787,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04886043686675634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16647829180244927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316827609951764,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672012318157,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365367306338016,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d4a0584a756fef6e3067424cecfa9783164f4cc6e9074d355a3d186216cbb44",
+    "visual_seed": 8408095779519044269,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c9350f7007f4d0e02c38e5fad23d49392884e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_72_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3678228221252032,
+              0.11428073653949439,
+              1.165486778993364
+            ],
+            "current_z": 1.165486778993364,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30438021137395344,
+            "gripper_z": 1.1552223430087853,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36234113009623525,
+              0.10905197443276825,
+              1.1552223430087853
+            ],
+            "object_minus_gripper": [
+              0.005481692028967922,
+              0.00522876210672614,
+              0.010264435984578713
+            ],
+            "object_to_gripper_xy": 0.00757554622909699,
+            "object_to_gripper_z": 0.010264435984578713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3678228221252032,
+              0.08986297530296096,
+              1.165486778993364
+            ],
+            "finger_b": [
+              0.35632717013472026,
+              0.11428073653949439,
+              1.165486778993364
+            ],
+            "finger_midpoint": [
+              0.36207499612996175,
+              0.10207185592122767,
+              1.165486778993364
+            ],
+            "object_minus_finger_midpoint": [
+              0.005747825995241429,
+              0.012208880618266721,
+              0.0
+            ],
+            "finger_gap": 0.026988461951186624,
+            "fingertip_max_gap": 0.09121843209021338,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013494230975593309,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165486778993364,
+            "object_top_z": 1.2154899482429038,
+            "finger_top_clearance": 0.050003169249539736,
+            "fingertip_min_top_clearance": 0.01500095077486192,
+            "object_projection_between_fingers": 0.8185692293336074,
+            "object_to_finger_line_xy": 0.010400669962948767,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810921604510669,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.810564421234434,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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",
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+                "dummy_base_revolute_z_joint",
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+              },
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+                "depth": 0.019619355815341022,
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+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.0013226094967271895
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+                "rod_tip_xy": [
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+                  -0.3277052681030157
+                ],
+                "target_mouth_xy": [
+                  0.2676068000205264,
+                  -0.3290278775997429
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+                "gripper_position": [
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+                  -0.32777203236689967,
+                  1.000934763850158
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+                "target_xy_drift": 7.722143941484839e-08,
+                "depth": 0.019734859193574206,
+                "bottom_clearance": 0.07970585267887098,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005946661399865238,
+              "rod_tip_xy_max_step": 3.220075706655186e-05,
+              "rod_tip_xy_range": 0.0005946536974435251,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.266231766091649,
+            -0.3290742497471869,
+            1.0435379708041466
+          ],
+          "object_origin_world": [
+            0.266231766091649,
+            -0.3290742497471869,
+            1.0435379708041466
+          ],
+          "frame_world": [
+            0.26623041892216776,
+            -0.32907690769527054,
+            1.0434333195287215
+          ],
+          "center_minus_frame": [
+            1.3471694812472457e-06,
+            2.657948083628625e-06,
+            0.00010465127542502728
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24822300730784252,
+              0.15617923858647687,
+              0.8344557331152
+            ],
+            "target_position": [
+              0.2644470177182832,
+              0.2003593071805888,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04706481674009286,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16119011685254073,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8344557331152,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670833223681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13194001648103432,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85e2b92a53935373586e5bb5ca14a5a4903b080a910ad80280ab6ef822f29ec1",
+    "visual_seed": 5177757260425472645,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0cf54cba4d725d284223ee12a0c59416a0cd03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3672574394461168,
+              0.11577403778046154,
+              1.1671618842587175
+            ],
+            "current_z": 1.1671618842587175,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3060553762439513,
+            "gripper_z": 1.156920437755332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36201191982412656,
+              0.1106754655416142,
+              1.156920437755332
+            ],
+            "object_minus_gripper": [
+              0.005245519621990213,
+              0.00509857223884734,
+              0.010241446503385543
+            ],
+            "object_to_gripper_xy": 0.007315115513744751,
+            "object_to_gripper_z": 0.010241446503385543,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3672574394461168,
+              0.09151889959758652,
+              1.1671618842587175
+            ],
+            "finger_b": [
+              0.3559545994454997,
+              0.11577403778046154,
+              1.1671618842587175
+            ],
+            "finger_midpoint": [
+              0.3616060194458082,
+              0.10364646868902402,
+              1.1671618842587175
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651420000308549,
+              0.012127569091437515,
+              0.0
+            ],
+            "finger_gap": 0.026759408071740143,
+            "fingertip_max_gap": 0.09178018348377723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379704035870077,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1671618842587175,
+            "object_top_z": 1.2171502089513657,
+            "finger_top_clearance": 0.049988324692648245,
+            "fingertip_min_top_clearance": 0.014996497407794473,
+            "object_projection_between_fingers": 0.8215887833104503,
+            "object_to_finger_line_xy": 0.010245067653922373,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048390091741888616,
+            "require_object_upright": true,
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+              {
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+                "rod_tip_xy": [
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+                "depth": 0.01955375564232209,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.0005043264022979166
+                ],
+                "rod_tip_xy": [
+                  0.2695251298332273,
+                  -0.32391428932152344
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+                "target_mouth_xy": [
+                  0.2703804666614144,
+                  -0.32441861572382136
+                ],
+                "gripper_position": [
+                  0.26953306789349823,
+                  -0.32397543978537724,
+                  1.000997888244288
+                ],
+                "rod_tip_xy_dist": 0.0009929482412029103,
+                "target_xy_drift": 9.092335856966697e-09,
+                "depth": 0.01966984291817986,
+                "bottom_clearance": 0.07977093533215052,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.00059573838707736,
+              "rod_tip_xy_max_step": 3.225837151372074e-05,
+              "rod_tip_xy_range": 0.0005957311845137367,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2690631556143129,
+            -0.3251812932332231,
+            1.0434982155711054
+          ],
+          "object_origin_world": [
+            0.2690631556143129,
+            -0.3251812932332231,
+            1.0434982155711054
+          ],
+          "frame_world": [
+            0.26906163059634947,
+            -0.32518386826750084,
+            1.0433934635924995
+          ],
+          "center_minus_frame": [
+            1.5250179634107575e-06,
+            2.575034277751964e-06,
+            0.00010475197860593255
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24949690607367525,
+              0.15807165154319347,
+              0.8341937043457571
+            ],
+            "target_position": [
+              0.2653165408805921,
+              0.2023665410192167,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0470350728618265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16166310540203024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8341937043457571,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671739206342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13204001088221332,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b389e6af228dd509409e4067af9dbb4fd27cee641abd712bac6a9280cded6fc6",
+    "visual_seed": 989031750046370027,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..053653617054c906f4cbe1cbabadde13c570d578
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_79_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3741890904281762,
+              0.11300469806808144,
+              1.1642506089345726
+            ],
+            "current_z": 1.1642506089345726,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3031441009198066,
+            "gripper_z": 1.1538743407961032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3689760927057282,
+              0.10791161797619443,
+              1.1538743407961032
+            ],
+            "object_minus_gripper": [
+              0.005212997722448043,
+              0.005093080091887012,
+              0.010376268138469369
+            ],
+            "object_to_gripper_xy": 0.007287990812056797,
+            "object_to_gripper_z": 0.010376268138469369,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3741890904281762,
+              0.08897785525848702,
+              1.1642506089345726
+            ],
+            "finger_b": [
+              0.3626515691470564,
+              0.11300469806808144,
+              1.1642506089345726
+            ],
+            "finger_midpoint": [
+              0.3684203297876163,
+              0.10099127666328422,
+              1.1642506089345726
+            ],
+            "object_minus_finger_midpoint": [
+              0.005768760640559922,
+              0.01201342140479722,
+              0.0
+            ],
+            "finger_gap": 0.026653397020065805,
+            "fingertip_max_gap": 0.09163375993130765,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013326698510032908,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642506089345726,
+            "object_top_z": 1.2141868151463049,
+            "finger_top_clearance": 0.04993620621173234,
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+                "centered": true
+              },
+              {
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+                  1.0009986464512513
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+                "target_xy_drift": 6.978276041682654e-08,
+                "depth": 0.0196684274360035,
+                "bottom_clearance": 0.07977231367200543,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005963734676036471,
+              "rod_tip_xy_max_step": 3.233586199471729e-05,
+              "rod_tip_xy_range": 0.0005963662332260295,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696035369680287,
+            -0.3282135808685766,
+            1.0434500923983172
+          ],
+          "object_origin_world": [
+            0.2696035369680287,
+            -0.3282135808685766,
+            1.0434500923983172
+          ],
+          "frame_world": [
+            0.26960207572993167,
+            -0.32821644129475597,
+            1.0433444420850024
+          ],
+          "center_minus_frame": [
+            1.461238097022477e-06,
+            2.860426179362996e-06,
+            0.0001056503133147757
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2558972111168157,
+              0.1551371104597042,
+              0.8322060516129367
+            ],
+            "target_position": [
+              0.2705334232207219,
+              0.201077586111663,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821561995742404,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16512265574197718,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322060516129367,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673846599613,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13435864114497542,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b88c0c07d22a154f5a2fba90a994c90f0a1b4e2439b33d5517bcb78404bcae0",
+    "visual_seed": 2576363812951884882,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..053a8c64f29df8d377006a321627098fd700d99b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3706463085311475,
+              0.1065367638625278,
+              1.1639997439041805
+            ],
+            "current_z": 1.1639997439041805,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30289311668012475,
+            "gripper_z": 1.1537167045724817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3654203289869033,
+              0.10155119250224913,
+              1.1537167045724817
+            ],
+            "object_minus_gripper": [
+              0.005225979544244197,
+              0.004985571360278676,
+              0.010283039331698829
+            ],
+            "object_to_gripper_xy": 0.00722265768158022,
+            "object_to_gripper_z": 0.010283039331698829,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3706463085311475,
+              0.0822353488330981,
+              1.1639997439041805
+            ],
+            "finger_b": [
+              0.35959911215742,
+              0.1065367638625278,
+              1.1639997439041805
+            ],
+            "finger_midpoint": [
+              0.3651227103442838,
+              0.09438605634781295,
+              1.1639997439041805
+            ],
+            "object_minus_finger_midpoint": [
+              0.00552359818686371,
+              0.01215070751471485,
+              0.0
+            ],
+            "finger_gap": 0.02669455600215687,
+            "fingertip_max_gap": 0.09200846956823852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013347278001078423,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+                "centered": true
+              },
+              {
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+                "depth": 0.019400506494244296,
+                "bottom_clearance": 0.08004006660467311,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005995381559716423,
+              "rod_tip_xy_max_step": 3.2480724083442437e-05,
+              "rod_tip_xy_range": 0.0005995296087404969,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2728635730938026,
+            -0.3324576611425727,
+            1.0433500936948035
+          ],
+          "object_origin_world": [
+            0.2728635730938026,
+            -0.3324576611425727,
+            1.0433500936948035
+          ],
+          "frame_world": [
+            0.2728891529938856,
+            -0.33245478255739963,
+            1.0436625046488504
+          ],
+          "center_minus_frame": [
+            -2.5579900083005924e-05,
+            -2.8785851730606105e-06,
+            -0.00031241095404688224
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2551002697728351,
+              0.1600188822505015,
+              0.8321643144431553
+            ],
+            "target_position": [
+              0.2706134231141129,
+              0.2054446679871602,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800166597507657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1658734780015885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321643144431553,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671741833546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13571209963741399,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "9768d3884c2c22f4459408cf0bb4d226bfebe19b5464ef8c6cd55e47fe496d97",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4695a1bb8507e7f06ee65cb0b00d0946169096029e186188042c0fc91b465994",
+    "visual_seed": 7282449102952312661,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "ce681bab1bbca6a5d8d81a113f9549e4c7aa06828b4f0986c03894e110b0ded7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8080dd8c8ca2634337ef5d0490e4057a75b4fe54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.37456224903094254,
+              0.1144585089896975,
+              1.165307775342519
+            ],
+            "current_z": 1.165307775342519,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30420108851381855,
+            "gripper_z": 1.1548928855386968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36939289210488296,
+              0.10941076904790968,
+              1.1548928855386968
+            ],
+            "object_minus_gripper": [
+              0.005169356926059576,
+              0.005047739941787824,
+              0.010414889803822103
+            ],
+            "object_to_gripper_xy": 0.007225090279638051,
+            "object_to_gripper_z": 0.010414889803822103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37456224903094254,
+              0.09050676984020574,
+              1.165307775342519
+            ],
+            "finger_b": [
+              0.3630297414832,
+              0.1144585089896975,
+              1.165307775342519
+            ],
+            "finger_midpoint": [
+              0.3687959952570713,
+              0.10248263941495162,
+              1.165307775342519
+            ],
+            "object_minus_finger_midpoint": [
+              0.005766253773871244,
+              0.01197586957474589,
+              0.0
+            ],
+            "finger_gap": 0.026583538865697233,
+            "fingertip_max_gap": 0.09154328118367402,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+                "ridgebase_rizon4",
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+                "shoulder_pan_joint",
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+                "ur16e",
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "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",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
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+        "skill": "pick",
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+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
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+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
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+    "action_seed": 6136293983304232058,
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+    "layout_id": "layout_00007",
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+      916088432641120656,
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f98ce6f61cb563defd508e949b8e3c6ce5dabba8566a38f2ab581e21a932e249",
+    "visual_seed": 2552949094899111298,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00007/results/summary.json
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@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00007",
+  "family": "lab3_v1",
+  "published_episodes": 30,
+  "published_successes": 30,
+  "published_failures": 0,
+  "matched_success_results": 30
+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..775f677cfe654be4bc3343d40f5a5a283a38dba5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f42d7afa2610ee75ffd47280679ae6a1a174a9e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  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':
+      - 0.0658
+      - 0.0658
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2153
+      - 0.2153
+      'y':
+      - -0.1311
+      - -0.1311
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2531
+      - 0.2531
+      'y':
+      - -0.3439
+      - -0.3439
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2951
+      - 0.2951
+      'y':
+      - 0.3188
+      - 0.3188
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_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_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8452354000cacd5e59d63aa7d2e58e7092a64d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25434425669536054,
+              0.05724123273747831,
+              1.162949429521241
+            ],
+            "current_z": 1.162949429521241,
+            "required_z": 0.8611066351307062,
+            "initial_z": 0.7611066351307062,
+            "lift_margin": 0.30184279439053485,
+            "gripper_z": 1.1566369119822517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24884990657799935,
+              0.05216595242878684,
+              1.1566369119822517
+            ],
+            "object_minus_gripper": [
+              0.005494350117361185,
+              0.00507528030869147,
+              0.006312517538989315
+            ],
+            "object_to_gripper_xy": 0.007479729502056759,
+            "object_to_gripper_z": 0.006312517538989315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25434425669536054,
+              0.0328865997275208,
+              1.162949429521241
+            ],
+            "finger_b": [
+              0.24298528142403336,
+              0.05724123273747831,
+              1.162949429521241
+            ],
+            "finger_midpoint": [
+              0.24866476905969695,
+              0.04506391623249956,
+              1.162949429521241
+            ],
+            "object_minus_finger_midpoint": [
+              0.005679487635663588,
+              0.012177316504978754,
+              0.0
+            ],
+            "finger_gap": 0.02687330400721754,
+            "fingertip_max_gap": 0.09027711982666364,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01343665200360877,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162949429521241,
+            "object_top_z": 1.2128091254791253,
+            "finger_top_clearance": 0.04985969595788431,
+            "fingertip_min_top_clearance": 0.014957908787365292,
+            "object_projection_between_fingers": 0.8213363600007589,
+            "object_to_finger_line_xy": 0.010294367749795696,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047638559913331824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1311646383541999,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3128235644237072,
+              -0.3408438798238604,
+              0.8515395610025106
+            ],
+            "target_position": [
+              0.30371981666957704,
+              -0.34255858848239257,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00926382474761234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594309353100302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395610025106,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758085116498119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565977790082456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15336015699469938,
+            "release_required_pad_clearance": 0.05282988895041228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7044302422794921,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007960200309753418,
+            "max_z_decrease": 0.007960200309753418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516956938286658,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007960200309753418,
+            "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": 0.021064864547613277,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007960200309753418,
+            "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": 0.007960211056211452,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15941974520683289,
+              -0.3988200426101684,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15941974520683289,
+              -0.3988200426101684,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16039811038636573,
+              -0.3980017533542249,
+              0.8080465532085237
+            ],
+            "closest_button": [
+              0.15941186249256134,
+              -0.39882528781890864,
+              0.7729004621505737
+            ],
+            "closest_ee_minus_button": [
+              0.0009862478938043873,
+              0.0008235344646837506,
+              0.03514609105794997
+            ],
+            "button_min_z_position": [
+              0.15940669178962708,
+              -0.39882087707519526,
+              0.7688486576080322
+            ],
+            "min_active_finger_to_button": 0.1449062224060433,
+            "closest_active_finger": [
+              0.03323870897293091,
+              -0.4613628685474396,
+              0.8109339475631714
+            ],
+            "closest_active_finger_button": [
+              0.15942004323005676,
+              -0.3988216519355774,
+              0.7768065333366394
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12618133425712585,
+              -0.06254121661186218,
+              0.03412741422653198
+            ],
+            "min_contact_pad_to_button": 0.021064864547613277,
+            "closest_contact_pad": [
+              0.15940669178962708,
+              -0.39907989481371486,
+              0.7899119296287898
+            ],
+            "closest_contact_pad_button": [
+              0.15940669178962708,
+              -0.39882087707519526,
+              0.7688486576080322
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025901773851960685,
+              0.02106327202075753
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7222fc3427eb87933d2b731fdfa0f63290fd0cdd41f4649da014e3c7f1690170",
+    "visual_seed": 4458655686900503860,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb5aea035b920b665b4db1379aa49ac6142f8a90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2505238306940305,
+              0.06086851991624755,
+              1.1639623279196658
+            ],
+            "current_z": 1.1639623279196658,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3028556410909654,
+            "gripper_z": 1.1573808601715356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2454428128227481,
+              0.05585708126225401,
+              1.1573808601715356
+            ],
+            "object_minus_gripper": [
+              0.005081017871282401,
+              0.00501143865399354,
+              0.006581467748130176
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+            "object_to_gripper_xy": 0.007136614042459612,
+            "object_to_gripper_z": 0.006581467748130176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2505238306940305,
+              0.03690610753266436,
+              1.1639623279196658
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+            "finger_b": [
+              0.23911560774072693,
+              0.06086851991624755,
+              1.1639623279196658
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+            "finger_midpoint": [
+              0.24481971921737872,
+              0.048887313724455955,
+              1.1639623279196658
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+            "object_minus_finger_midpoint": [
+              0.005704111476651785,
+              0.011981206191791598,
+              0.0
+            ],
+            "finger_gap": 0.026539494309296544,
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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": 1.1639623279196658,
+            "object_top_z": 1.213838084398462,
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+            "fingertip_min_top_clearance": 0.014962726943638816,
+            "object_projection_between_fingers": 0.8152218080160876,
+            "object_to_finger_line_xy": 0.01030044279612219,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779944371643653,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.42347357583019846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3114392640001065,
+              -0.34211465442173006,
+              0.8515395554807771
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+            "target_position": [
+              0.3024975853444765,
+              -0.3437153097047665,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009083816076719169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831481249939305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395554807771,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564022501848285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537019180782345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15096036053404618,
+            "release_required_pad_clearance": 0.052685095903911724,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.426124907977635,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007933378219604492,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515076159717124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007933378219604492,
+            "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": 0.021069697203660837,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007933378219604492,
+            "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": 0.00793339988454502,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "min_active_finger_to_button": 0.1456466908852166,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06039500236511236,
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+            "min_contact_pad_to_button": 0.021069697203660837,
+            "closest_contact_pad": [
+              0.1581790745258331,
+              -0.4001812627230042,
+              0.7899442037138273
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+            "closest_contact_pad_button": [
+              0.1581790745258331,
+              -0.399978756904602,
+              0.7688754796981812
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00020250581840219883,
+              0.02106872401564619
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1b265bf7cf4de4649ead6e6358a33b460de155bd23569117d078e7c79b1e0ab",
+    "visual_seed": 492439352899224510,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3199f2a96ae675f25c9f8dcf43bf40bc8b0c6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25332152485152837,
+              0.06239715090318078,
+              1.1622867355526936
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+            "current_z": 1.1622867355526936,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30118010832863795,
+            "gripper_z": 1.1559570569102795,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2479882556679046,
+              0.057302591072762546,
+              1.1559570569102795
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+              0.005333269183623757,
+              0.005094559830418233,
+              0.006329678642414072
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+            "object_to_gripper_z": 0.006329678642414072,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25332152485152837,
+              0.03819998270194965,
+              1.1622867355526936
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+              0.06239715090318078,
+              1.1622867355526936
+            ],
+            "finger_midpoint": [
+              0.24759730757370463,
+              0.05029856680256521,
+              1.1622867355526936
+            ],
+            "object_minus_finger_midpoint": [
+              0.00572421727782374,
+              0.012098584100615567,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09074597526768777,
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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": 1.1622867355526936,
+            "object_top_z": 1.2122228968672453,
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+            "fingertip_min_top_clearance": 0.014980848394365509,
+            "object_projection_between_fingers": 0.8170915242916499,
+            "object_to_finger_line_xy": 0.010348596615810971,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047872987633843886,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3856088765202151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.313029273500429,
+              -0.33739794642917226,
+              0.851539501411708
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+            "target_position": [
+              0.3034318974493351,
+              -0.33922268168444847,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009769303241171227,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546391734008358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539501411708,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754625753769752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554036831265825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365694604121832,
+            "release_required_pad_clearance": 0.05277018415632913,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5895011324590527,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007799863815307617,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177779814706205,
+            "contact_distance_threshold": 0.08,
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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": 0.02120011630078944,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007799863815307617,
+            "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": 0.007799891517528827,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.1459987615131762,
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+              -0.3954863250255584,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413775607943535,
+              0.012630283832549993,
+              0.0341833233833313
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+            "min_contact_pad_to_button": 0.02120011630078944,
+            "closest_contact_pad": [
+              0.15911103785038,
+              -0.39817680833458363,
+              0.7900373890916911
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+            "closest_contact_pad_button": [
+              0.15911103785038,
+              -0.39548394083976746,
+              0.769008994102478
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+            "closest_contact_pad_index": 0,
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d096c10e3d9f91b7f87df620b5ddff75de6a0738413701a3e85a97abfb07a02",
+    "visual_seed": 2892397746276553939,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a3a9175ae107be6acd24a50365e485395a5edd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2488038507540354,
+              0.06111323699688083,
+              1.1613300053505982
+            ],
+            "current_z": 1.1613300053505982,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.300223616545122,
+            "gripper_z": 1.1548062924623776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2437423445941512,
+              0.05608069696270204,
+              1.1548062924623776
+            ],
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+              0.00506150615988421,
+              0.005032540034178787,
+              0.006523712888220512
+            ],
+            "object_to_gripper_xy": 0.007137597901406189,
+            "object_to_gripper_z": 0.006523712888220512,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2488038507540354,
+              0.037210435239048524,
+              1.1613300053505982
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+            "finger_b": [
+              0.23730644923893904,
+              0.06111323699688083,
+              1.1613300053505982
+            ],
+            "finger_midpoint": [
+              0.24305514999648722,
+              0.04916183611796468,
+              1.1613300053505982
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748700757548186,
+              0.011951400878916149,
+              0.0
+            ],
+            "finger_gap": 0.026524218621357565,
+            "fingertip_max_gap": 0.09064267719767258,
+            "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": 1.1613300053505982,
+            "object_top_z": 1.2112376984186697,
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+            "fingertip_min_top_clearance": 0.01497230792042149,
+            "object_projection_between_fingers": 0.8121054433693319,
+            "object_to_finger_line_xy": 0.01036110104009855,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782133859883629,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3890739820859381,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31544990212115853,
+              -0.34522463011850657,
+              0.8515395733481882
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+            "target_position": [
+              0.30583865973517155,
+              -0.347165190888306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009805190273700828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18534728487616903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395733481882,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522623317033669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695419721457763,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437282425948187,
+            "release_required_pad_clearance": 0.05347709860728882,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 1.9671489427656936,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007887780666351318,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351977819295235,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
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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": 0.021098604341434183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007887780666351318,
+            "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": 0.007887806064156521,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "min_active_finger_to_button": 0.14420037793270477,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13905298709869382,
+              0.01683872938156128,
+              0.03427058458328247
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+            "min_contact_pad_to_button": 0.021098604341434183,
+            "closest_contact_pad": [
+              0.1615186184644699,
+              -0.4044431323038865,
+              0.789995248855559
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1447d5148424964d02e2a78d51da4976bdda2c04ab57538467e76f1a3247c168",
+    "visual_seed": 1956531722036450944,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1133d700c2a25167cdd2468623c75b82746de619
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_14_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2483494513159995,
+              0.0631797131948909,
+              1.1612394441272111
+            ],
+            "current_z": 1.1612394441272111,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3001326976938662,
+            "gripper_z": 1.154732814270647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.243286532642515,
+              0.058181513764878734,
+              1.154732814270647
+            ],
+            "object_minus_gripper": [
+              0.00506291867348449,
+              0.00499819943001216,
+              0.006506629856564139
+            ],
+            "object_to_gripper_xy": 0.007114432024869717,
+            "object_to_gripper_z": 0.006506629856564139,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2483494513159995,
+              0.039181444859550434,
+              1.1612394441272111
+            ],
+            "finger_b": [
+              0.23702910996903298,
+              0.0631797131948909,
+              1.1612394441272111
+            ],
+            "finger_midpoint": [
+              0.24268928064251624,
+              0.05118057902722066,
+              1.1612394441272111
+            ],
+            "object_minus_finger_midpoint": [
+              0.005660170673483261,
+              0.011999134167670233,
+              0.0
+            ],
+            "finger_gap": 0.026534261084621227,
+            "fingertip_max_gap": 0.09063704197795028,
+            "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": 1.1612394441272111,
+            "object_top_z": 1.2111715994630554,
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+            "fingertip_min_top_clearance": 0.014979646600753248,
+            "object_projection_between_fingers": 0.8179858931694929,
+            "object_to_finger_line_xy": 0.010238407937035272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781852098897514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29388170602267377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31242580626981087,
+              -0.3451768374083476,
+              0.8515395606329228
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+            "target_position": [
+              0.30345017238236055,
+              -0.3469013492612491,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009139800042251707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866624261694865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395606329228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574942253662066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501673449767926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15420241312080094,
+            "release_required_pad_clearance": 0.05250836724883963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.08846931728041997,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008039772510528564,
+            "max_z_decrease": 0.008039772510528564,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035164864517048824,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039772510528564,
+            "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": 0.021052389898874257,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008039772510528564,
+            "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": 0.008039783041547394,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.40316280722618103,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "min_active_finger_to_button": 0.14530695038588168,
+            "closest_active_finger": [
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+            "closest_active_finger_button": [
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+              -0.40316343307495117,
+              0.7767526507377625
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275594756007194,
+              -0.06063777208328247,
+              0.03414309024810791
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+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07bf40190ba7aca57c8ef7090c57d4e1701418e5b5a63d4ca70e7b7555015f55",
+    "visual_seed": 2893847308795754592,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ddda90bc705dac620dd41700717876141a6c26c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2533829597030598,
+              0.06296492526223718,
+              1.1606887581505192
+            ],
+            "current_z": 1.1606887581505192,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.299582071321819,
+            "gripper_z": 1.1543702065138814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24811885996497754,
+              0.05791340560912968,
+              1.1543702065138814
+            ],
+            "object_minus_gripper": [
+              0.005264099738082256,
+              0.005051519653107503,
+              0.006318551636637748
+            ],
+            "object_to_gripper_xy": 0.007295793093160539,
+            "object_to_gripper_z": 0.006318551636637748,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2533829597030598,
+              0.038813726181460596,
+              1.1606887581505192
+            ],
+            "finger_b": [
+              0.24200007217849506,
+              0.06296492526223718,
+              1.1606887581505192
+            ],
+            "finger_midpoint": [
+              0.24769151594077743,
+              0.050889325721848885,
+              1.1606887581505192
+            ],
+            "object_minus_finger_midpoint": [
+              0.005691443762282367,
+              0.012075599540388296,
+              0.0
+            ],
+            "finger_gap": 0.026699261140267445,
+            "fingertip_max_gap": 0.09086411120159621,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013349630570133724,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1606887581505192,
+            "object_top_z": 1.2106135529321804,
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+            "fingertip_min_top_clearance": 0.014977438434498402,
+            "object_projection_between_fingers": 0.8182366146362318,
+            "object_to_finger_line_xy": 0.010296553948649735,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793205560079811,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5013375535717577,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31921693386512384,
+              -0.34290670282249913,
+              0.8515395729030657
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+            "target_position": [
+              0.3097917212581688,
+              -0.3450000833314448,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009654888639520296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18645899061543628,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395729030657,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589847775339785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570449517964061,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536973890495393,
+            "release_required_pad_clearance": 0.05285224758982031,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7475539765821771,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00788956880569458,
+            "max_z_decrease": 0.00788956880569458,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513840580073644,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00788956880569458,
+            "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": 0.021082092219775226,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00788956880569458,
+            "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": 0.007889594751011959,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16549164056777957,
+              -0.4012615382671356,
+              0.7768088579177856
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+            "button_final": [
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+              -0.4012615382671356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1650006729533582,
+              -0.40145210310588636,
+              0.8082374827886988
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13951876360276041,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06e8f8067e36f52a381edb1500b1211d7bdd8ca619e6f2624a44df23b6924522",
+    "visual_seed": 8144248470399169400,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0265f27bb323e33cc5702a5818385a62166f641
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_17_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.24720184254629562,
+              0.06484442470889946,
+              1.162916938136532
+            ],
+            "current_z": 1.162916938136532,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3018104301217659,
+            "gripper_z": 1.1565608068716735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24196582544033252,
+              0.059856556121145946,
+              1.1565608068716735
+            ],
+            "object_minus_gripper": [
+              0.005236017105963109,
+              0.004987868587753519,
+              0.006356131264858567
+            ],
+            "object_to_gripper_xy": 0.007231508015803936,
+            "object_to_gripper_z": 0.006356131264858567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24720184254629562,
+              0.04064696002905148,
+              1.162916938136532
+            ],
+            "finger_b": [
+              0.23599218281764764,
+              0.06484442470889946,
+              1.162916938136532
+            ],
+            "finger_midpoint": [
+              0.24159701268197165,
+              0.05274569236897547,
+              1.162916938136532
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604829864323979,
+              0.012098732339923993,
+              0.0
+            ],
+            "finger_gap": 0.026667841460541256,
+            "fingertip_max_gap": 0.09043899456208632,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013333920730270623,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162916938136532,
+            "object_top_z": 1.212800863533856,
+            "finger_top_clearance": 0.049883925397324,
+            "fingertip_min_top_clearance": 0.0149651776191972,
+            "object_projection_between_fingers": 0.8233111556457241,
+            "object_to_finger_line_xy": 0.010171252358703985,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771949728104316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23833377481185125,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3119034495668242,
+              -0.3426858798379507,
+              0.8515395706445118
+            ],
+            "target_position": [
+              0.3025817794842453,
+              -0.3444390193179362,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009485095211157885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18489948354741148,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395706445118,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573585275843259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550623667568712,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15253548978747655,
+            "release_required_pad_clearance": 0.05275311833784356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5567249695099317,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007965028285980225,
+            "max_z_decrease": 0.007965028285980225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035270565308011696,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007965028285980225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+              0.2097331712892731,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0480659656131702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16520727923995043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8306897224129373,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671083574228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1357724432904201,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba1394660ea4a653ba81f6f18d6ff893c92610c4f0a3a782bc8b08455622a51e",
+    "visual_seed": 4357996178902205068,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb05732b756ddbb82ded5d848b30d9c2d62bfe26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_18_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25438380449791903,
+              0.06287884231238777,
+              1.1639339292098105
+            ],
+            "current_z": 1.1639339292098105,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.30282718277646525,
+            "gripper_z": 1.1574796304452952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2490987123153533,
+              0.05787571139541549,
+              1.1574796304452952
+            ],
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+              0.0052850921825657315,
+              0.005003130916972284,
+              0.006454298764515309
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+            "object_to_gripper_xy": 0.00727760388799647,
+            "object_to_gripper_z": 0.006454298764515309,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25438380449791903,
+              0.03849340237590877,
+              1.1639339292098105
+            ],
+            "finger_b": [
+              0.243338001443432,
+              0.06287884231238777,
+              1.1639339292098105
+            ],
+            "finger_midpoint": [
+              0.24886090297067553,
+              0.05068612234414827,
+              1.1639339292098105
+            ],
+            "object_minus_finger_midpoint": [
+              0.005522901527243496,
+              0.0121927199682395,
+              0.0
+            ],
+            "finger_gap": 0.026770495811884766,
+            "fingertip_max_gap": 0.0909617732318142,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013385247905942376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639339292098105,
+            "object_top_z": 1.2139179680623449,
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+            "fingertip_min_top_clearance": 0.014995211655760331,
+            "object_projection_between_fingers": 0.8297521008100862,
+            "object_to_finger_line_xy": 0.010061702585866505,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479808866159071,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7082453241369049,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31927181197390914,
+              -0.3451874192273183,
+              0.8515395689164603
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+            "target_position": [
+              0.3109957787278186,
+              -0.3469588084164666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008463483086166563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848083680414005,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689164603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552110216573567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591524048938624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15299370932334458,
+            "release_required_pad_clearance": 0.052957620244693124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9512021954443405,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
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+            0.0001320016936519064
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27727655190614636,
+              0.1575843299501996,
+              0.8321942222538469
+            ],
+            "target_position": [
+              0.2863460069059819,
+              0.20400905157193894,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04730232332190495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16828281344985555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321942222538469,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668605838655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13682757784143626,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e74e21738f0e5ec0c2a962d385993223be2aac2b4a0d4e5f285cd6a18115da01",
+    "visual_seed": 7194595443517433606,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd42ad325bc7d7d74888565ec2a1ddd9e09bc9d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25020588385462394,
+              0.05976888470427918,
+              1.1639299235453542
+            ],
+            "current_z": 1.1639299235453542,
+            "required_z": 0.8611066272240555,
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+            "lift_margin": 0.3028232963212987,
+            "gripper_z": 1.1576217739015733,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24488564825853282,
+              0.054766180982827636,
+              1.1576217739015733
+            ],
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+              0.005320235596091127,
+              0.005002703721451542,
+              0.006308149643780903
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+            "object_to_gripper_xy": 0.00730287281297848,
+            "object_to_gripper_z": 0.006308149643780903,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25020588385462394,
+              0.03532466965742999,
+              1.1639299235453542
+            ],
+            "finger_b": [
+              0.2392076236866385,
+              0.05976888470427918,
+              1.1639299235453542
+            ],
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+              0.24470675377063122,
+              0.04754677718085458,
+              1.1639299235453542
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549913008399272,
+              0.012222107523424598,
+              0.0
+            ],
+            "finger_gap": 0.02680450290490953,
+            "fingertip_max_gap": 0.09089462422664721,
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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": 1.1639299235453542,
+            "object_top_z": 1.2139117720305097,
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+            "object_projection_between_fingers": 0.8316425021346976,
+            "object_to_finger_line_xy": 0.010029801247990707,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047947312113323606,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.611751770484139,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3101603589288744,
+              -0.33925231230225006,
+              0.8515395625726057
+            ],
+            "target_position": [
+              0.3023066997134207,
+              -0.34038014235036396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007934227353051392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18372118301685908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625726057,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532231760382624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624709036150867,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523624593135373,
+            "release_required_pad_clearance": 0.053123545180754336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2734731433794035,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            -0.3390782153597569,
+            1.0433799124522414
+          ],
+          "frame_world": [
+            0.3087651177845031,
+            -0.339084856652507,
+            1.0432543418136146
+          ],
+          "center_minus_frame": [
+            1.7919704723423635e-06,
+            6.641292750075856e-06,
+            0.00012557063862672635
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27620711535617676,
+              0.16271056013568944,
+              0.8311919762248923
+            ],
+            "target_position": [
+              0.2880232275771808,
+              0.20932649605464138,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048090186001087526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1689325722568261,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311919762248923,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670953999382,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390989267222811,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b22c9434e1ebdf245dcf8b969f2baf3c8023a0beb69ea28811d189a5953b2a43",
+    "visual_seed": 7536683837443710990,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c89f2dc4648490450b9ca9b678105fe0905415
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25183360946528943,
+              0.0688860347814143,
+              1.160954321684451
+            ],
+            "current_z": 1.160954321684451,
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+            "lift_margin": 0.2998476348557506,
+            "gripper_z": 1.1546084225962467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24656827731172007,
+              0.06384386418790186,
+              1.1546084225962467
+            ],
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+              0.005265332153569363,
+              0.005042170593512432,
+              0.006345899088204154
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+            "object_to_gripper_z": 0.006345899088204154,
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+              0.25183360946528943,
+              0.044748087762004674,
+              1.160954321684451
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+            "finger_b": [
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+              0.0688860347814143,
+              1.160954321684451
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+            "finger_midpoint": [
+              0.24613684335233083,
+              0.05681706127170948,
+              1.160954321684451
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+            "object_minus_finger_midpoint": [
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+              0.01206897350970481,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782438231977354,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31883162519997643,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 347,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31899681974188754,
+              -0.34244996783606185,
+              0.851539567195785
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+            "target_position": [
+              0.3102610432578852,
+              -0.34424756306097953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008918808181090938,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184269819086041,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539567195785,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589239151425412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596009734360509,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515962878893434,
+            "release_required_pad_clearance": 0.052980048671802546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9946438012472011,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+            -0.34149544512076563,
+            1.043312384940958
+          ],
+          "object_origin_world": [
+            0.31765055478686577,
+            -0.34149544512076563,
+            1.043312384940958
+          ],
+          "frame_world": [
+            0.3176488310828319,
+            -0.3415027180417501,
+            1.0431823087238772
+          ],
+          "center_minus_frame": [
+            1.7237040338957677e-06,
+            7.272920984457976e-06,
+            0.00013007621708083228
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2784275476425028,
+              0.15907993649535185,
+              0.8321851573494689
+            ],
+            "target_position": [
+              0.2879821050752265,
+              0.20571350871430544,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04760230693606745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16623911815617445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321851573494689,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667551157206,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13508912038993587,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 211,
+            "max_placed_release_frames": 211
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5494009a73fd4a0c39cfc9c26c38a8a1b1d5a80a725fecaafd2f8a1b13ad3e4e",
+    "visual_seed": 1054374315015328761,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e07956ddb3a0c1b18ca52846b33485aa5a132d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2556420824741039,
+              0.0612132102343586,
+              1.1641218395019899
+            ],
+            "current_z": 1.1641218395019899,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3030153910918689,
+            "gripper_z": 1.1574899483001206,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25049201362355994,
+              0.056249268225629714,
+              1.1574899483001206
+            ],
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+              0.005150068850543976,
+              0.004963942008728885,
+              0.006631891201869244
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+            "object_to_gripper_xy": 0.007152896576308559,
+            "object_to_gripper_z": 0.006631891201869244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2556420824741039,
+              0.03716694045395275,
+              1.1641218395019899
+            ],
+            "finger_b": [
+              0.24435346366213664,
+              0.0612132102343586,
+              1.1641218395019899
+            ],
+            "finger_midpoint": [
+              0.24999777306812027,
+              0.049190075344155676,
+              1.1641218395019899
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564430940598365,
+              0.012023134890202923,
+              0.0
+            ],
+            "finger_gap": 0.026564186511804963,
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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": 1.1641218395019899,
+            "object_top_z": 1.214009444496329,
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+            "object_projection_between_fingers": 0.819412130311612,
+            "object_to_finger_line_xy": 0.01021861419622616,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788844067091792,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5254721447611571,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "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": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.312414204621963,
+              -0.3468571365238181,
+              0.8515395034070389
+            ],
+            "target_position": [
+              0.3041059678298623,
+              -0.3482692440797467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00842738668527356,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18399691047705916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395034070389,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585485221820558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644163250915436,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151263203141123,
+            "release_required_pad_clearance": 0.05322081625457718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4633684168712602,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+          "object_center_world": [
+            0.312775524962176,
+            -0.34707085238053303,
+            1.0433607497745505
+          ],
+          "object_origin_world": [
+            0.312775524962176,
+            -0.34707085238053303,
+            1.0433607497745505
+          ],
+          "frame_world": [
+            0.3127737848194826,
+            -0.34707800124617616,
+            1.0432319660429032
+          ],
+          "center_minus_frame": [
+            1.7401426933849606e-06,
+            7.148865643125113e-06,
+            0.00012878373164726398
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27759030372338545,
+              0.15869617912093684,
+              0.8313630229320038
+            ],
+            "target_position": [
+              0.2881709379975231,
+              0.20563693680801953,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04811844297024239,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16848132805796703,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313630229320038,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668850755726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13774343997624178,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d3d32e58bf3f4e2084cfcb4553684c1930d506077a5b90294711db45d8fa761",
+    "visual_seed": 8007730087146098551,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82288025c451288b458952e06242d3d3ba5e2824
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24686523640339747,
+              0.0673346712427894,
+              1.1609001741308855
+            ],
+            "current_z": 1.1609001741308855,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.2997936661161198,
+            "gripper_z": 1.1546193843941248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24162860982437223,
+              0.06221240697826044,
+              1.1546193843941248
+            ],
+            "object_minus_gripper": [
+              0.005236626579025239,
+              0.005122264264528956,
+              0.006280789736760717
+            ],
+            "object_to_gripper_xy": 0.0073252883304224916,
+            "object_to_gripper_z": 0.006280789736760717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24686523640339747,
+              0.043219263964724176,
+              1.1609001741308855
+            ],
+            "finger_b": [
+              0.23535364516159865,
+              0.0673346712427894,
+              1.1609001741308855
+            ],
+            "finger_midpoint": [
+              0.24110944078249807,
+              0.05527696760375679,
+              1.1609001741308855
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057557956208993954,
+              0.012057703639032608,
+              0.0
+            ],
+            "finger_gap": 0.026722080777986212,
+            "fingertip_max_gap": 0.09065182435999897,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0133610403889931,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609001741308855,
+            "object_top_z": 1.2108945259005384,
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+            "fingertip_min_top_clearance": 0.014998305530895883,
+            "object_projection_between_fingers": 0.8144204252454482,
+            "object_to_finger_line_xy": 0.01038866372424413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047825912179999486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29737240300849643,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3138672662049778,
+              -0.34576165480473164,
+              0.8515395162859208
+            ],
+            "target_position": [
+              0.3050825299784023,
+              -0.34742697190820565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008941189609086195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18619146786189494,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395162859208,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514714738563413,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862627670894983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15526119155279183,
+            "release_required_pad_clearance": 0.05313138354474915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2887469741703628,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3139831888844122,
+            -0.34666807782468206,
+            1.0432887597562908
+          ],
+          "object_origin_world": [
+            0.3139831888844122,
+            -0.34666807782468206,
+            1.0432887597562908
+          ],
+          "frame_world": [
+            0.31398136586197944,
+            -0.34667570805799613,
+            1.0431593903813177
+          ],
+          "center_minus_frame": [
+            1.8230224327342448e-06,
+            7.630233314070978e-06,
+            0.00012936937497309842
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.277103897282295,
+              0.16083219422196812,
+              0.8312495520141857
+            ],
+            "target_position": [
+              0.2881242086302964,
+              0.20777674591081735,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482207237137097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16639502562481334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312495520141857,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666501308177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13581802928037526,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19a8dc164f8b3b783b98dcc43e47588e25ef38d80775a65a5cc65c81473cc0b1",
+    "visual_seed": 4161815910015986272,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..397bd44a116544a18be2f5071e89a611386a4e45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24677934893770498,
+              0.06463629083961722,
+              1.1631281562219753
+            ],
+            "current_z": 1.1631281562219753,
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+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3020217078118539,
+            "gripper_z": 1.1566435957638268,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24163133723784097,
+              0.05965032507271463,
+              1.1566435957638268
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+              0.005148011699864008,
+              0.004985965766902592,
+              0.006484560458148492
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+            "object_to_gripper_z": 0.006484560458148492,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24677934893770498,
+              0.04054173445578471,
+              1.1631281562219753
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+            "finger_b": [
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+              0.06463629083961722,
+              1.1631281562219753
+            ],
+            "finger_midpoint": [
+              0.24114583881744994,
+              0.05258901264770097,
+              1.1631281562219753
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+            "object_minus_finger_midpoint": [
+              0.005633510120255036,
+              0.012047278191916255,
+              0.0
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+            "finger_gap": 0.02659874794861117,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631281562219753,
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+            "object_to_finger_line_xy": 0.010206264407153269,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777857561121829,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31182504341135464,
+              -0.3414134861308077,
+              0.8515395913950129
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+            "target_position": [
+              0.3032328883910461,
+              -0.34304985280812234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008746589266430587,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18584326307890006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395913950129,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543987763299635,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530617497099534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409435976563352,
+            "release_required_pad_clearance": 0.05265308748549767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36476849218130103,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3126738836998622,
+            -0.3403751418488791,
+            1.0432862609651143
+          ],
+          "object_origin_world": [
+            0.3126738836998622,
+            -0.3403751418488791,
+            1.0432862609651143
+          ],
+          "frame_world": [
+            0.3126986783681188,
+            -0.34037166439208144,
+            1.0435812276430525
+          ],
+          "center_minus_frame": [
+            -2.4794668256611363e-05,
+            -3.4774567976847415e-06,
+            -0.0002949666779381577
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2722649966359834,
+              0.16229502066751839,
+              0.8314255659310301
+            ],
+            "target_position": [
+              0.2836067225156799,
+              0.20911352202709094,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04817267706373058,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1678612987608319,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314255659310301,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566947174864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13720722398883012,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80debba1e47744a64f2980b2f74370b0d6d54ff2f5c581b4b97c804c18aa1754",
+    "visual_seed": 4747058847741897136,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c98f9162008eda2e2e604ffb1921db7d4163e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_23_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2469784255827129,
+              0.059762211506065456,
+              1.1630212690943988
+            ],
+            "current_z": 1.1630212690943988,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30191476107963267,
+            "gripper_z": 1.1566124368064299,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24182265461184196,
+              0.05483511653606879,
+              1.1566124368064299
+            ],
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+              0.005155770970870943,
+              0.004927094969996666,
+              0.006408832287968957
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+            "object_to_gripper_xy": 0.007131496276900238,
+            "object_to_gripper_z": 0.006408832287968957,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2469784255827129,
+              0.03555651346836764,
+              1.1630212690943988
+            ],
+            "finger_b": [
+              0.23593943495278813,
+              0.059762211506065456,
+              1.1630212690943988
+            ],
+            "finger_midpoint": [
+              0.2414589302677505,
+              0.04765936248721655,
+              1.1630212690943988
+            ],
+            "object_minus_finger_midpoint": [
+              0.005519495314962403,
+              0.012102849018848907,
+              0.0
+            ],
+            "finger_gap": 0.02660404352010752,
+            "fingertip_max_gap": 0.09058041443757686,
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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": 1.1630212690943988,
+            "object_top_z": 1.2129955096867895,
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+            "object_projection_between_fingers": 0.8278276408939566,
+            "object_to_finger_line_xy": 0.01004382937604873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779020721878843,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.27849312589630315,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.317002478049104,
+              -0.34547036920494545,
+              0.8515395752976288
+            ],
+            "target_position": [
+              0.3084259420841211,
+              -0.34716996258875604,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008743316694992658,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18446025593156934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395752976288,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581475184715329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545574873177585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15190008440603672,
+            "release_required_pad_clearance": 0.052727874365887925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5082179566639058,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31775293968324897,
+            -0.3455733045868194,
+            1.0433968472595498
+          ],
+          "object_origin_world": [
+            0.31775293968324897,
+            -0.3455733045868194,
+            1.0433968472595498
+          ],
+          "frame_world": [
+            0.31777758053199023,
+            -0.345570010551603,
+            1.0436881837121792
+          ],
+          "center_minus_frame": [
+            -2.4640848741264154e-05,
+            -3.294035216372393e-06,
+            -0.0002913364526293538
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27331469858684765,
+              0.1591844016943749,
+              0.8319176784773011
+            ],
+            "target_position": [
+              0.282451322209492,
+              0.20629205815923196,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04798551019665053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16789723894503508,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319176784773011,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674749249252,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13706127180984032,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c78737fd2ce1f8cd09d50aad9b4f55d43d510b5c3ed69bab2d6c596713a2102",
+    "visual_seed": 1124054938591543448,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b333e1a6e57be7ddb1fba7f7978b7daa156e1095
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_24_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2538048648554946,
+              0.06231242517332052,
+              1.1639294868490686
+            ],
+            "current_z": 1.1639294868490686,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30282291922965765,
+            "gripper_z": 1.1575068800239494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24852396497376153,
+              0.057122214039117714,
+              1.1575068800239494
+            ],
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+              0.005280899881733053,
+              0.005190211134202809,
+              0.0064226068251191926
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+            "object_to_gripper_xy": 0.007404471296351346,
+            "object_to_gripper_z": 0.0064226068251191926,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2538048648554946,
+              0.03831668001495015,
+              1.1639294868490686
+            ],
+            "finger_b": [
+              0.24200427066879276,
+              0.06231242517332052,
+              1.1639294868490686
+            ],
+            "finger_midpoint": [
+              0.24790456776214367,
+              0.05031455259413534,
+              1.1639294868490686
+            ],
+            "object_minus_finger_midpoint": [
+              0.005900297093350909,
+              0.011997872579185186,
+              0.0
+            ],
+            "finger_gap": 0.02674041527098403,
+            "fingertip_max_gap": 0.09082200857759201,
+            "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": 1.1639294868490686,
+            "object_top_z": 1.2138573594840398,
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+            "object_projection_between_fingers": 0.8052526950810294,
+            "object_to_finger_line_xy": 0.010589366244012847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791100428879601,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49824891423864087,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31881751277688375,
+              -0.3381613330784381,
+              0.8515395581633929
+            ],
+            "target_position": [
+              0.30920426397910117,
+              -0.3403524880740769,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009859802871405756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18687430607313113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395581633929,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586455552692506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531717181679853,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428499517813982,
+            "release_required_pad_clearance": 0.052658585908399266,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37534369529242567,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31762035646162085,
+            -0.3397220486921495,
+            1.0433352615989224
+          ],
+          "object_origin_world": [
+            0.31762035646162085,
+            -0.3397220486921495,
+            1.0433352615989224
+          ],
+          "frame_world": [
+            0.31761860496249267,
+            -0.33972900855346483,
+            1.0432053534959
+          ],
+          "center_minus_frame": [
+            1.7514991281775139e-06,
+            6.959861315325444e-06,
+            0.00012990810302238032
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2804357682678265,
+              0.15545918805622874,
+              0.8326754848364278
+            ],
+            "target_position": [
+              0.2876961103638656,
+              0.2030633762614027,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048154660231644664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17183365406882212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326754848364278,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668886152025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14045923537996216,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c856184928ba136940355451fcec2d42b5091071dc77cf622fbfa52347f1c1d3",
+    "visual_seed": 8921481810754760720,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2291c1ff69a456be63567f0651596acf46083628
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_25_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2485413990065199,
+              0.06285458940464994,
+              1.1635442280493002
+            ],
+            "current_z": 1.1635442280493002,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3024374816159554,
+            "gripper_z": 1.1572697109885153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24314627159514585,
+              0.05783372455277776,
+              1.1572697109885153
+            ],
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+              0.0053951274113740455,
+              0.005020864851872184,
+              0.006274517060784968
+            ],
+            "object_to_gripper_xy": 0.007369971753387193,
+            "object_to_gripper_z": 0.006274517060784968,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2485413990065199,
+              0.03833636938921568,
+              1.1635442280493002
+            ],
+            "finger_b": [
+              0.23754623886491535,
+              0.06285458940464994,
+              1.1635442280493002
+            ],
+            "finger_midpoint": [
+              0.24304381893571764,
+              0.05059547939693281,
+              1.1635442280493002
+            ],
+            "object_minus_finger_midpoint": [
+              0.005497580070802255,
+              0.01225911000771713,
+              0.0
+            ],
+            "finger_gap": 0.02687073983471185,
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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": 1.1635442280493002,
+            "object_top_z": 1.21352767254261,
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+            "fingertip_min_top_clearance": 0.014995033347992947,
+            "object_projection_between_fingers": 0.8325659161646563,
+            "object_to_finger_line_xy": 0.010032539376104025,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047860826864825554,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4453304988349112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3131271543295916,
+              -0.3414976958950796,
+              0.8515395987183443
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+            "target_position": [
+              0.3053573628311583,
+              -0.3427939933107908,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007877185215488221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18601579728737164,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395987183443,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533310514253114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866033618623429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15455260420970582,
+            "release_required_pad_clearance": 0.05330168093117145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6216829188711133,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31419769383967955,
+            -0.3416666278398487,
+            1.0433548481880688
+          ],
+          "object_origin_world": [
+            0.31419769383967955,
+            -0.3416666278398487,
+            1.0433548481880688
+          ],
+          "frame_world": [
+            0.3141959660416861,
+            -0.3416736905189284,
+            1.043226393131984
+          ],
+          "center_minus_frame": [
+            1.727797993456015e-06,
+            7.062679079683498e-06,
+            0.00012845505608471974
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27698509822176653,
+              0.1549353835596817,
+              0.832267901926153
+            ],
+            "target_position": [
+              0.2861100893230404,
+              0.2014964728575327,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0474468175877032,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16953075745592272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832267901926153,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669537461904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13908465161118158,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b6f61a4ade1f767d33fc209804b96f60c09124532af4788e46022f95df4d43d",
+    "visual_seed": 9104274834799191322,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d8a696f60b0e64caeb561276a59eb7ca76cbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_26_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25286995454680666,
+              0.06166086361390265,
+              1.1614400627547732
+            ],
+            "current_z": 1.1614400627547732,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30033343553071756,
+            "gripper_z": 1.1549082178389978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.247723855995247,
+              0.05664132880853438,
+              1.1549082178389978
+            ],
+            "object_minus_gripper": [
+              0.005146098551559675,
+              0.005019534805368264,
+              0.006531844915775409
+            ],
+            "object_to_gripper_xy": 0.007188745367911427,
+            "object_to_gripper_z": 0.006531844915775409,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25286995454680666,
+              0.03761806864356678,
+              1.1614400627547732
+            ],
+            "finger_b": [
+              0.241498948441152,
+              0.06166086361390265,
+              1.1614400627547732
+            ],
+            "finger_midpoint": [
+              0.24718445149397933,
+              0.04963946612873471,
+              1.1614400627547732
+            ],
+            "object_minus_finger_midpoint": [
+              0.005685503052827334,
+              0.012021397485167937,
+              0.0
+            ],
+            "finger_gap": 0.02659616081017039,
+            "fingertip_max_gap": 0.09103623812540956,
+            "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": 1.1614400627547732,
+            "object_top_z": 1.2114196874918153,
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+            "fingertip_min_top_clearance": 0.014993887421112661,
+            "object_projection_between_fingers": 0.8172068634090571,
+            "object_to_finger_line_xy": 0.01027933205683385,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048018119062704784,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6485184504954499,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3122944226471466,
+              -0.34205539296003096,
+              0.8515395943274275
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+            "target_position": [
+              0.3036566390210502,
+              -0.34366530650324423,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008786531032659006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18481650692704654,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395943274275,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587005041428403,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567585711304075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522612841967801,
+            "release_required_pad_clearance": 0.05283792855652038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7198174738536155,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31276467470802055,
+            -0.34405484172918666,
+            1.0433912640595888
+          ],
+          "object_origin_world": [
+            0.31276467470802055,
+            -0.34405484172918666,
+            1.0433912640595888
+          ],
+          "frame_world": [
+            0.31276281464032796,
+            -0.3440622285033068,
+            1.0432629183740505
+          ],
+          "center_minus_frame": [
+            1.8600676925939474e-06,
+            7.386774120154982e-06,
+            0.00012834568553832248
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27705628010473005,
+              0.16091445068627608,
+              0.8317233619401626
+            ],
+            "target_position": [
+              0.2874835653912626,
+              0.20777263392956125,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048004349962352665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16862977942927979,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317233619401626,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670111048831,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13743450473939295,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b708649d957cc57807826cf41abc77e8bf9001f644bb6a3b657b64c218ba1b27",
+    "visual_seed": 9149732276072930543,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b0ea9b2629c31d60ec0defd7d5c6c237086418
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_27_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2502141766916305,
+              0.0674251463373357,
+              1.1623222313499526
+            ],
+            "current_z": 1.1623222313499526,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.301215663730542,
+            "gripper_z": 1.1560565725605296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24491895641898365,
+              0.0624387254160568,
+              1.1560565725605296
+            ],
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+              0.005295220272646839,
+              0.004986420921278906,
+              0.006265658789422979
+            ],
+            "object_to_gripper_xy": 0.00727349650030974,
+            "object_to_gripper_z": 0.006265658789422979,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502141766916305,
+              0.043140463215464844,
+              1.1623222313499526
+            ],
+            "finger_b": [
+              0.2390698744336524,
+              0.0674251463373357,
+              1.1623222313499526
+            ],
+            "finger_midpoint": [
+              0.24464202556264145,
+              0.055282804776400275,
+              1.1623222313499526
+            ],
+            "object_minus_finger_midpoint": [
+              0.005572151128989039,
+              0.012142341560935431,
+              0.0
+            ],
+            "finger_gap": 0.026719680146791703,
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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": 1.1623222313499526,
+            "object_top_z": 1.2122604096036451,
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+            "fingertip_min_top_clearance": 0.014981453476107753,
+            "object_projection_between_fingers": 0.8260424609503246,
+            "object_to_finger_line_xy": 0.010128708407530981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047817620655513496,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2923080615696616,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31537799831467295,
+              -0.338515491608012,
+              0.8515395629194586
+            ],
+            "target_position": [
+              0.3060244536720329,
+              -0.34022998184115366,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009509378220546203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18697789610239232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395629194586,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540436696358725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517631144295555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15524404552666385,
+            "release_required_pad_clearance": 0.05258815572147778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24066260798360956,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3138853097731778,
+            -0.34029630423589513,
+            1.0433448548437483
+          ],
+          "object_origin_world": [
+            0.3138853097731778,
+            -0.34029630423589513,
+            1.0433448548437483
+          ],
+          "frame_world": [
+            0.3138833623380173,
+            -0.3403032530426142,
+            1.0432169040939625
+          ],
+          "center_minus_frame": [
+            1.9474351605208717e-06,
+            6.948806719087042e-06,
+            0.0001279507497857768
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.277729055917994,
+              0.15751529691563082,
+              0.8319011097334119
+            ],
+            "target_position": [
+              0.2868787153872613,
+              0.20477203026022334,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04813434444142222,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1709166858869989,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319011097334119,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673541151166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1402630042595137,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8680776f23ea0d620045ae11465b9ae22a786f9e968abe62d59eea6e69923b93",
+    "visual_seed": 1531827549559243115,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc596d9ca7d27d536e96be5f4aff3b104751668e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_28_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.2527104587829011,
+              0.06476417595020395,
+              1.1605929372110135
+            ],
+            "current_z": 1.1605929372110135,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.29948648880089246,
+            "gripper_z": 1.154096743089648,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24745599855480838,
+              0.05971178941605844,
+              1.154096743089648
+            ],
+            "object_minus_gripper": [
+              0.005254460228092728,
+              0.0050523865341455115,
+              0.006496194121365484
+            ],
+            "object_to_gripper_xy": 0.0072894418153259975,
+            "object_to_gripper_z": 0.006496194121365484,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2527104587829011,
+              0.04057193473224498,
+              1.1605929372110135
+            ],
+            "finger_b": [
+              0.241390020082507,
+              0.06476417595020395,
+              1.1605929372110135
+            ],
+            "finger_midpoint": [
+              0.24705023943270404,
+              0.052668055341224464,
+              1.1605929372110135
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566021935019706,
+              0.012096120608979487,
+              0.0
+            ],
+            "finger_gap": 0.02670986461061331,
+            "fingertip_max_gap": 0.09050093833489078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013354932305306662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605929372110135,
+            "object_top_z": 1.2105326737493978,
+            "finger_top_clearance": 0.04993973653838424,
+            "fingertip_min_top_clearance": 0.014981920961515304,
+            "object_projection_between_fingers": 0.8203682332107548,
+            "object_to_finger_line_xy": 0.01025339468116321,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047750469167445395,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1677941613792213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3146751105584289,
+              -0.3455551752342632,
+              0.8515395589370042
+            ],
+            "target_position": [
+              0.30516216065362967,
+              -0.34729550023265104,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009670829695079593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1871923479157819,
+            "gripper_away_threshold": 0.04,
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+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006131425717189495,
+              "rod_tip_xy_max_step": 3.314866436076061e-05,
+              "rod_tip_xy_range": 0.0006131373473385046,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3155543890703684,
+            -0.34440002194393526,
+            1.043315989219154
+          ],
+          "object_origin_world": [
+            0.3155543890703684,
+            -0.34440002194393526,
+            1.043315989219154
+          ],
+          "frame_world": [
+            0.3155526770807024,
+            -0.3444074381405044,
+            1.043186633572009
+          ],
+          "center_minus_frame": [
+            1.711989666031144e-06,
+            7.416196569132172e-06,
+            0.0001293556471448909
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2790504724909511,
+              0.1549031471293941,
+              0.8318805131387225
+            ],
+            "target_position": [
+              0.2879976620269702,
+              0.20138447514335722,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04733461792953528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16907061024304823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318805131387225,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670340992445,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13761051300425767,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9033f1d27406e9d3f30b7912e15e8f812e1b63528dbb10ae3db1700a03b3c841",
+    "visual_seed": 9168292046839363189,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc972493f0c9deffeddb45c5c8a3613cc0ad385
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24964362825197908,
+              0.06547417299891962,
+              1.1637878140291846
+            ],
+            "current_z": 1.1637878140291846,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30268136561906334,
+            "gripper_z": 1.1572179495448014,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24454367947439945,
+              0.06050007313843585,
+              1.1572179495448014
+            ],
+            "object_minus_gripper": [
+              0.005099948777579633,
+              0.004974099860483777,
+              0.0065698644843832366
+            ],
+            "object_to_gripper_xy": 0.007123983924462542,
+            "object_to_gripper_z": 0.0065698644843832366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24964362825197908,
+              0.041459576143296484,
+              1.1637878140291846
+            ],
+            "finger_b": [
+              0.23834421935667444,
+              0.06547417299891962,
+              1.1637878140291846
+            ],
+            "finger_midpoint": [
+              0.24399392380432677,
+              0.053466874571108054,
+              1.1637878140291846
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056497044476523095,
+              0.01200729842781157,
+              0.0
+            ],
+            "finger_gap": 0.02654011121908487,
+            "fingertip_max_gap": 0.09033467579818791,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327005560954243,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637878140291846,
+            "object_top_z": 1.2135992374744387,
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+            "fingertip_min_top_clearance": 0.014943427033576172,
+            "object_projection_between_fingers": 0.8187383317255363,
+            "object_to_finger_line_xy": 0.010224175290285006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047667337899093956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1852978430890315,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006134696740044265,
+              "rod_tip_xy_max_step": 3.328034816304278e-05,
+              "rod_tip_xy_range": 0.0006134626288689126,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3131786136120377,
+            -0.33696935367963415,
+            1.0435640161878177
+          ],
+          "object_origin_world": [
+            0.3131786136120377,
+            -0.33696935367963415,
+            1.0435640161878177
+          ],
+          "frame_world": [
+            0.3131768546993817,
+            -0.33697617387864576,
+            1.0434367014461472
+          ],
+          "center_minus_frame": [
+            1.7589126559691692e-06,
+            6.820199011603467e-06,
+            0.00012731474167049228
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2675150195072571,
+              0.16155233538560887,
+              0.8311694190638713
+            ],
+            "target_position": [
+              0.28022195195062866,
+              0.20699455062080813,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04718539029829662,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16643314779876514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311694190638713,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673284800545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13689712707459478,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e62c642313b1c743b54b2f1af5223611d5f50a5ccfacbc82b224e57bb401a687",
+    "visual_seed": 6765488393895815233,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f801e15b3f1fc9f0502fe219ad5d9c19301e9dd3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_2_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.24993509288423743,
+              0.06720212430922966,
+              1.1627281264912748
+            ],
+            "current_z": 1.1627281264912748,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3016213800579296,
+            "gripper_z": 1.1563784904962846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24464114675451273,
+              0.062109157790175465,
+              1.1563784904962846
+            ],
+            "object_minus_gripper": [
+              0.005293946129724697,
+              0.005092966519054193,
+              0.006349635994990166
+            ],
+            "object_to_gripper_xy": 0.007346031145362377,
+            "object_to_gripper_z": 0.006349635994990166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24993509288423743,
+              0.043100152674782725,
+              1.1627281264912748
+            ],
+            "finger_b": [
+              0.23839984871721612,
+              0.06720212430922966,
+              1.1627281264912748
+            ],
+            "finger_midpoint": [
+              0.24416747080072676,
+              0.05515113849200619,
+              1.1627281264912748
+            ],
+            "object_minus_finger_midpoint": [
+              0.005767622083510671,
+              0.01205098581722347,
+              0.0
+            ],
+            "finger_gap": 0.026720158956497316,
+            "fingertip_max_gap": 0.09058550681371821,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013360079478248667,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627281264912748,
+            "object_top_z": 1.2126214089393628,
+            "finger_top_clearance": 0.049893282448087994,
+            "fingertip_min_top_clearance": 0.014967984734426364,
+            "object_projection_between_fingers": 0.8136302131262336,
+            "object_to_finger_line_xy": 0.010404957850835056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779275340685911,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3306843512359969,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+                "rod_tip_xy": [
+                  0.32048802878141697,
+                  -0.34167868040966276
+                ],
+                "target_mouth_xy": [
+                  0.31942908694612576,
+                  -0.34382966181449914
+                ],
+                "gripper_position": [
+                  0.320478344570444,
+                  -0.3416806103990211,
+                  1.0016400611694907
+                ],
+                "rod_tip_xy_dist": 0.0023975151333165356,
+                "target_xy_drift": 1.189626133010756e-07,
+                "depth": 0.019474667639273857,
+                "bottom_clearance": 0.07996587621623741,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006083075679120433,
+              "rod_tip_xy_max_step": 3.3131846543618474e-05,
+              "rod_tip_xy_range": 0.000608299412550283,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3202257712401483,
+            -0.3431404253727807,
+            1.0434018426102942
+          ],
+          "object_origin_world": [
+            0.3202257712401483,
+            -0.3431404253727807,
+            1.0434018426102942
+          ],
+          "frame_world": [
+            0.3202502118573462,
+            -0.3431367813204224,
+            1.043692684190914
+          ],
+          "center_minus_frame": [
+            -2.4440617197918346e-05,
+            -3.6440523583092244e-06,
+            -0.0002908415806197606
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2726872242408761,
+              0.162722817005017,
+              0.8319255465007925
+            ],
+            "target_position": [
+              0.28248018659247787,
+              0.2089423564438178,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04724561289214854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16753487434184805,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319255465007925,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566930279926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372539006338142,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b48d80ce9acd6d120f80299ef8595f271e9e0b5323ddbda7e83507178119b1b3",
+    "visual_seed": 4665906490114378872,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2f9cb51cf3f17e4eb0279196c786078e37849e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_30_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2539392380840009,
+              0.0606221627447847,
+              1.1613350557487876
+            ],
+            "current_z": 1.1613350557487876,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3002283689200874,
+            "gripper_z": 1.1549200298324382,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24866412465291007,
+              0.05563319942174737,
+              1.1549200298324382
+            ],
+            "object_minus_gripper": [
+              0.0052751134310908,
+              0.004988963323037332,
+              0.006415025916349348
+            ],
+            "object_to_gripper_xy": 0.007260618207114753,
+            "object_to_gripper_z": 0.006415025916349348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2539392380840009,
+              0.0364528145871902,
+              1.1613350557487876
+            ],
+            "finger_b": [
+              0.242664512174834,
+              0.0606221627447847,
+              1.1613350557487876
+            ],
+            "finger_midpoint": [
+              0.24830187512941743,
+              0.04853748866598745,
+              1.1613350557487876
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637362954583447,
+              0.01208467407879725,
+              0.0
+            ],
+            "finger_gap": 0.026669773802750096,
+            "fingertip_max_gap": 0.09083713153459286,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334886901375053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613350557487876,
+            "object_top_z": 1.2111578662663733,
+            "finger_top_clearance": 0.04982281051758575,
+            "fingertip_min_top_clearance": 0.014946843155275757,
+            "object_projection_between_fingers": 0.8212799319096794,
+            "object_to_finger_line_xy": 0.010217663557836598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791856576729643,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6266476411679509,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": []
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+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009045468058904715,
+                  8.57986427954538e-06
+                ],
+                "rod_tip_xy": [
+                  0.31430922009172857,
+                  -0.33952822261671706
+                ],
+                "target_mouth_xy": [
+                  0.3134046732858381,
+                  -0.3395368024809966
+                ],
+                "gripper_position": [
+                  0.314299341581991,
+                  -0.33952971887259614,
+                  1.001442859444798
+                ],
+                "rod_tip_xy_dist": 0.0009045874961095304,
+                "target_xy_drift": 1.2413381402934685e-09,
+                "depth": 0.019675584964953807,
+                "bottom_clearance": 0.07976502842675959,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000610766941011476,
+              "rod_tip_xy_max_step": 3.306543076077361e-05,
+              "rod_tip_xy_range": 0.000610757793780309,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31402136011506915,
+            -0.34099548618712294,
+            1.043569158196065
+          ],
+          "object_origin_world": [
+            0.31402136011506915,
+            -0.34099548618712294,
+            1.043569158196065
+          ],
+          "frame_world": [
+            0.31401967778518003,
+            -0.34100256350403,
+            1.0434405790496597
+          ],
+          "center_minus_frame": [
+            1.682329889118872e-06,
+            7.077316907078135e-06,
+            0.00012857914640540535
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2760672284500893,
+              0.1590092072560088,
+              0.8323003514781212
+            ],
+            "target_position": [
+              0.28573985013587083,
+              0.20648440029256632,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0484505269747879,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17008235994639018,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323003514781212,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567127856969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14010546600368726,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec032ae8ccfc8edf1ea4c8a411ef519666c3306f2a536c933daed658606c59c5",
+    "visual_seed": 3738689264647145121,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f695ad63302c34f314d8350dac4e16b4a5f3f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_31_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24857004898528287,
+              0.06296882117803225,
+              1.1602663332664984
+            ],
+            "current_z": 1.1602663332664984,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.29915982525173257,
+            "gripper_z": 1.1539288851870924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2433751244210522,
+              0.05810148775273141,
+              1.1539288851870924
+            ],
+            "object_minus_gripper": [
+              0.00519492456423068,
+              0.004867333425300838,
+              0.006337448079406061
+            ],
+            "object_to_gripper_xy": 0.007118860576040108,
+            "object_to_gripper_z": 0.006337448079406061,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24857004898528287,
+              0.038726713349613556,
+              1.1602663332664984
+            ],
+            "finger_b": [
+              0.2376365971126246,
+              0.06296882117803225,
+              1.1602663332664984
+            ],
+            "finger_midpoint": [
+              0.24310332304895374,
+              0.0508477672638229,
+              1.1602663332664984
+            ],
+            "object_minus_finger_midpoint": [
+              0.005466725936329131,
+              0.012121053914209347,
+              0.0
+            ],
+            "finger_gap": 0.026593611297009163,
+            "fingertip_max_gap": 0.09063494240472111,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013296805648504582,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1602663332664984,
+            "object_top_z": 1.2101801593008554,
+            "finger_top_clearance": 0.04991382603435701,
+            "fingertip_min_top_clearance": 0.01497414781030707,
+            "object_projection_between_fingers": 0.830971490483658,
+            "object_to_finger_line_xy": 0.009966676442458813,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781747120236056,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.313468054258108,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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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+                "depth": 0.019410831819624108,
+                "bottom_clearance": 0.08002977881558004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  4.833607119036909e-05,
+                  0.0001843098708866342
+                ],
+                "rod_tip_xy": [
+                  0.3158482443312014,
+                  -0.34635950558161804
+                ],
+                "target_mouth_xy": [
+                  0.31579990826001103,
+                  -0.3465438154525047
+                ],
+                "gripper_position": [
+                  0.3158386399705213,
+                  -0.34636148709120074,
+                  1.0015402829929847
+                ],
+                "rod_tip_xy_dist": 0.00019054265738770466,
+                "target_xy_drift": 4.513839901761236e-08,
+                "depth": 0.01957589857315345,
+                "bottom_clearance": 0.07986469584606992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  3.87326208011185e-05,
+                  0.00018232708502957662
+                ],
+                "rod_tip_xy": [
+                  0.3158386399705213,
+                  -0.3463614870912008
+                ],
+                "target_mouth_xy": [
+                  0.3157999073497202,
+                  -0.34654381417623037
+                ],
+                "gripper_position": [
+                  0.31585907486194187,
+                  -0.34644292948565014,
+                  1.0009313985327641
+                ],
+                "rod_tip_xy_dist": 0.00018639576671562502,
+                "target_xy_drift": 4.530905366569021e-08,
+                "depth": 0.019719476900872945,
+                "bottom_clearance": 0.07972103676209585,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006084366900424402,
+              "rod_tip_xy_max_step": 3.3163526079043454e-05,
+              "rod_tip_xy_range": 0.0006084259902378273,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3155301563131268,
+            -0.3479229680008346,
+            1.0434289664916816
+          ],
+          "object_origin_world": [
+            0.3155301563131268,
+            -0.3479229680008346,
+            1.0434289664916816
+          ],
+          "frame_world": [
+            0.3155545338576402,
+            -0.34791957943699264,
+            1.04372025256655
+          ],
+          "center_minus_frame": [
+            -2.4377544513398686e-05,
+            -3.3885638419661746e-06,
+            -0.000291286074868502
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27218624447685397,
+              0.16157409458637897,
+              0.831700220718417
+            ],
+            "target_position": [
+              0.28275527299720715,
+              0.2077594015455146,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0473791825887026,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16811249110770926,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831700220718417,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669193344674,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13759210197888813,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ed7bb45c77b636e3013ff3c6ef6b21399b2c45c2730638f698ddd9bcd361656",
+    "visual_seed": 2873775015478871555,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbb784680e4108e19420c5c2473dc578956da68e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_32_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2520841959840212,
+              0.06306730268620313,
+              1.1641526615056113
+            ],
+            "current_z": 1.1641526615056113,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3030461534908454,
+            "gripper_z": 1.157802543952857,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24674488457316893,
+              0.058088219933708315,
+              1.157802543952857
+            ],
+            "object_minus_gripper": [
+              0.005339311410852282,
+              0.004979082752494812,
+              0.006350117552754275
+            ],
+            "object_to_gripper_xy": 0.007300651436567062,
+            "object_to_gripper_z": 0.006350117552754275,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2520841959840212,
+              0.0385837264545144,
+              1.1641526615056113
+            ],
+            "finger_b": [
+              0.24115516783776533,
+              0.06306730268620313,
+              1.1641526615056113
+            ],
+            "finger_midpoint": [
+              0.24661968191089328,
+              0.05082551457035876,
+              1.1641526615056113
+            ],
+            "object_minus_finger_midpoint": [
+              0.005464514073127924,
+              0.012241788115844365,
+              0.0
+            ],
+            "finger_gap": 0.026812108483194052,
+            "fingertip_max_gap": 0.09072911400590353,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340605424159702,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641526615056113,
+            "object_top_z": 1.2141349816300482,
+            "finger_top_clearance": 0.04998232012443693,
+            "fingertip_min_top_clearance": 0.014994696037331078,
+            "object_projection_between_fingers": 0.8338496910939128,
+            "object_to_finger_line_xy": 0.009979882556601215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047864557002951766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4910318137781367,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "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",
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+              },
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+                "rod_tip_xy": [
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+                "target_xy_drift": 1.0977419063804941e-07,
+                "depth": 0.019391931478359603,
+                "bottom_clearance": 0.08004866505492225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000965774396543384,
+                  0.0021708388442482907
+                ],
+                "rod_tip_xy": [
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+                  -0.3411550732345502
+                ],
+                "target_mouth_xy": [
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+                  -0.3433259120787985
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+                "gripper_position": [
+                  0.31835919130084817,
+                  -0.34115684657866163,
+                  1.001580623634487
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+                "target_xy_drift": 6.703758338934135e-07,
+                "depth": 0.01953663068743139,
+                "bottom_clearance": 0.07990520266917556,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000609275770242139,
+              "rod_tip_xy_max_step": 3.307096538858057e-05,
+              "rod_tip_xy_range": 0.0006092666443174445,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3180614781311554,
+            -0.3427399385346228,
+            1.0434266762595712
+          ],
+          "object_origin_world": [
+            0.3180614781311554,
+            -0.3427399385346228,
+            1.0434266762595712
+          ],
+          "frame_world": [
+            0.3180860851798706,
+            -0.3427363391620579,
+            1.0437175208445553
+          ],
+          "center_minus_frame": [
+            -2.4607048715208357e-05,
+            -3.5993725648886254e-06,
+            -0.0002908445849840735
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2702941381752685,
+              0.15739955141222592,
+              0.8325423886225505
+            ],
+            "target_position": [
+              0.27875262095728043,
+              0.20412700444361087,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04748684868228128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16867100863592094,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325423886225505,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673138405393,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13728568059052082,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "900a3a814630c91cf56a531cbf4a240857ec20394273199526a2fc159c734228",
+    "visual_seed": 7239080383009562902,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5b567d890d657b66b2afa98fcda74e9b86644bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2465018804258135,
+              0.06645334760795976,
+              1.1606791987370535
+            ],
+            "current_z": 1.1606791987370535,
+            "required_z": 0.8611069252472793,
+            "initial_z": 0.7611069252472793,
+            "lift_margin": 0.2995722734897742,
+            "gripper_z": 1.1543376999450243,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24121655963087038,
+              0.06157194037575495,
+              1.1543376999450243
+            ],
+            "object_minus_gripper": [
+              0.005285320794943121,
+              0.004881407232204815,
+              0.0063414987920291654
+            ],
+            "object_to_gripper_xy": 0.007194633588451858,
+            "object_to_gripper_z": 0.0063414987920291654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2465018804258135,
+              0.042077658818627704,
+              1.1606791987370535
+            ],
+            "finger_b": [
+              0.2356392094260092,
+              0.06645334760795976,
+              1.1606791987370535
+            ],
+            "finger_midpoint": [
+              0.24107054492591135,
+              0.054265503213293736,
+              1.1606791987370535
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431335499902157,
+              0.012187844394666025,
+              0.0
+            ],
+            "finger_gap": 0.026686547644915747,
+            "fingertip_max_gap": 0.09066224185097535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334327382245787,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1606791987370535,
+            "object_top_z": 1.2106226451525528,
+            "finger_top_clearance": 0.049943446415499304,
+            "fingertip_min_top_clearance": 0.01498303392464979,
+            "object_projection_between_fingers": 0.8343129887002617,
+            "object_to_finger_line_xy": 0.009922043541760971,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783112092548768,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2954996004141415,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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",
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+                "inserted": true,
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+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0016352931643106583
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+                "rod_tip_xy": [
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+                  -0.3399737271963991,
+                  1.00162467993528
+                ],
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+                "target_xy_drift": 2.3493874697758936e-09,
+                "depth": 0.01949471839803618,
+                "bottom_clearance": 0.07994585647740327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005384822067725503,
+                  0.001633671405598447
+                ],
+                "rod_tip_xy": [
+                  0.31187121252248007,
+                  -0.3399737271963992
+                ],
+                "target_mouth_xy": [
+                  0.3124096947292526,
+                  -0.3416073986019976
+                ],
+                "gripper_position": [
+                  0.3118614022588989,
+                  -0.33997504138064444,
+                  1.0014844162119585
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+                "rod_tip_xy_dist": 0.0017201294568958002,
+                "target_xy_drift": 8.656445346949078e-10,
+                "depth": 0.019635090088183538,
+                "bottom_clearance": 0.07980544116794375,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006112952342755202,
+              "rod_tip_xy_max_step": 3.300527158016691e-05,
+              "rod_tip_xy_range": 0.0006112830734958486,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3114986549847444,
+            -0.3414449997628706,
+            1.0432868648795701
+          ],
+          "object_origin_world": [
+            0.3114986549847444,
+            -0.3414449997628706,
+            1.0432868648795701
+          ],
+          "frame_world": [
+            0.31152353317035864,
+            -0.34144173979586406,
+            1.0435818156183103
+          ],
+          "center_minus_frame": [
+            -2.4878185614252146e-05,
+            -3.2599670065636133e-06,
+            -0.00029495073874019617
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27866972069142154,
+              0.16098904918070048,
+              0.8325348790201158
+            ],
+            "target_position": [
+              0.2866320554345827,
+              0.20810772891241008,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04778670059986955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716483271345771,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325348790201158,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669302853573,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13998991624920284,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62dbe4a419534ffdd42258f971778fbf810676c2c1bf725a3b239a0718c179bf",
+    "visual_seed": 5492850848759553376,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cef685059274e29b793add3b6bbd5c8477d771b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25051217225620964,
+              0.06672845499758967,
+              1.1625757128207406
+            ],
+            "current_z": 1.1625757128207406,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30146908559668495,
+            "gripper_z": 1.1561257216782048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24536401685080558,
+              0.061629086863853835,
+              1.1561257216782048
+            ],
+            "object_minus_gripper": [
+              0.005148155405404059,
+              0.005099368133735835,
+              0.006449991142535749
+            ],
+            "object_to_gripper_xy": 0.007246175504467962,
+            "object_to_gripper_z": 0.006449991142535749,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25051217225620964,
+              0.0427860771342322,
+              1.1625757128207406
+            ],
+            "finger_b": [
+              0.2388908804717622,
+              0.06672845499758967,
+              1.1625757128207406
+            ],
+            "finger_midpoint": [
+              0.24470152636398593,
+              0.054757266065910935,
+              1.1625757128207406
+            ],
+            "object_minus_finger_midpoint": [
+              0.005810645892223715,
+              0.011971188931678735,
+              0.0
+            ],
+            "finger_gap": 0.026613753596421815,
+            "fingertip_max_gap": 0.09070996562111208,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013306876798210908,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625757128207406,
+            "object_top_z": 1.2125112425907631,
+            "finger_top_clearance": 0.04993552977002258,
+            "fingertip_min_top_clearance": 0.014980658931006807,
+            "object_projection_between_fingers": 0.8093237739141769,
+            "object_to_finger_line_xy": 0.010454795794043169,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785498281055604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40269420525989447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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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+              },
+              {
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+                  0.0013879452903611256
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+                "rod_tip_xy": [
+                  0.3149953390325296,
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+                  -0.3430003332691811,
+                  1.0018838414836095
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+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01923296040335787,
+                "bottom_clearance": 0.08020753837025474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015801722594842582,
+                  0.0013862089749246964
+                ],
+                "rod_tip_xy": [
+                  0.31498557296143237,
+                  -0.3430003332691812
+                ],
+                "target_mouth_xy": [
+                  0.3134054007019481,
+                  -0.3443865422441059
+                ],
+                "gripper_position": [
+                  0.3149759035150701,
+                  -0.34300223842831706,
+                  1.0017408610709426
+                ],
+                "rod_tip_xy_dist": 0.0021020275192787947,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.019376036645502026,
+                "bottom_clearance": 0.08006446212811058,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006134415301972176,
+              "rod_tip_xy_max_step": 3.3303108604786476e-05,
+              "rod_tip_xy_range": 0.000613431178650632,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31471041625708396,
+            -0.34454439415304455,
+            1.0433223331727792
+          ],
+          "object_origin_world": [
+            0.31471041625708396,
+            -0.34454439415304455,
+            1.0433223331727792
+          ],
+          "frame_world": [
+            0.31470865883343224,
+            -0.3445518754880086,
+            1.0431925845737238
+          ],
+          "center_minus_frame": [
+            1.7574236517159392e-06,
+            7.48133496403236e-06,
+            0.000129748599055457
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2724578426953274,
+              0.1592084473637529,
+              0.8316020212376767
+            ],
+            "target_position": [
+              0.2832045309980435,
+              0.20583149376120286,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04784558250094262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16905349774015452,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316020212376767,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672748677153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387661021338805,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7050fe7efe44a6447526ad8dad40a2832ddf33ec8b0b10502d8ae3cffe4d2f3d",
+    "visual_seed": 5614150743978766905,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f4845469cb1b4f67b4f8aef6562d36505dda07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24919422228392357,
+              0.06154856784028792,
+              1.1610695198129335
+            ],
+            "current_z": 1.1610695198129335,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.2999630714028124,
+            "gripper_z": 1.154938232846474,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24374553945347124,
+              0.05648707171796255,
+              1.154938232846474
+            ],
+            "object_minus_gripper": [
+              0.005448682830452328,
+              0.005061496122325371,
+              0.006131286966459593
+            ],
+            "object_to_gripper_xy": 0.007436860062094806,
+            "object_to_gripper_z": 0.006131286966459593,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24919422228392357,
+              0.037042435909168,
+              1.1610695198129335
+            ],
+            "finger_b": [
+              0.2380747552957369,
+              0.06154856784028792,
+              1.1610695198129335
+            ],
+            "finger_midpoint": [
+              0.24363448878983024,
+              0.04929550187472796,
+              1.1610695198129335
+            ],
+            "object_minus_finger_midpoint": [
+              0.005559733494093333,
+              0.012253065965559959,
+              0.0
+            ],
+            "finger_gap": 0.02691083514733105,
+            "fingertip_max_gap": 0.0906209773268194,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013455417573665526,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610695198129335,
+            "object_top_z": 1.2110189022535882,
+            "finger_top_clearance": 0.04994938244065472,
+            "fingertip_min_top_clearance": 0.014984814732196415,
+            "object_projection_between_fingers": 0.8292685266904508,
+            "object_to_finger_line_xy": 0.01012585166994568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478104886634097,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4026084979350963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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",
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+                "fr3_leftfinger",
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  0.00040304050563338967,
+                  -5.594523695051645e-05
+                ],
+                "rod_tip_xy": [
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+                  -0.33900140725026406
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+                  0.3166934411805089,
+                  -0.3390032337395188,
+                  1.0017646455555043
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+                "rod_tip_xy_dist": 0.0004069048030174476,
+                "target_xy_drift": 3.109524971513873e-08,
+                "depth": 0.019352781609221936,
+                "bottom_clearance": 0.08008787071782286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0003931130608640365,
+                  -5.777359563946538e-05
+                ],
+                "rod_tip_xy": [
+                  0.31669344118050885,
+                  -0.3390032337395188
+                ],
+                "target_mouth_xy": [
+                  0.3163003281196448,
+                  -0.33894546014387933
+                ],
+                "gripper_position": [
+                  0.31668365490580047,
+                  -0.3390049132721755,
+                  1.001622237619807
+                ],
+                "rod_tip_xy_dist": 0.0003973357106717242,
+                "target_xy_drift": 4.440484579257632e-08,
+                "depth": 0.01949520327221832,
+                "bottom_clearance": 0.07994532812483046,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006128172269445142,
+              "rod_tip_xy_max_step": 3.319150653210627e-05,
+              "rod_tip_xy_range": 0.0006128037108425942,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31636316344627363,
+            -0.34049776965131273,
+            1.043348477364231
+          ],
+          "object_origin_world": [
+            0.31636316344627363,
+            -0.34049776965131273,
+            1.043348477364231
+          ],
+          "frame_world": [
+            0.3163613534828762,
+            -0.34050490574801406,
+            1.0432191360599785
+          ],
+          "center_minus_frame": [
+            1.8099633974366647e-06,
+            7.136096701332306e-06,
+            0.0001293413042524616
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2762052382157747,
+              0.16436421635874093,
+              0.8314253677849583
+            ],
+            "target_position": [
+              0.2862496186215567,
+              0.21101846306414895,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047723247095992245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1700227775859989,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314253677849583,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672991746027,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13943204356674344,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04b14a037faa357d55ac86db76589adb97c8f740d4994eb4fb675b716a88f619",
+    "visual_seed": 3238153352354328811,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dad66b9e41d58262d8c22ae8ba0e027e2c172bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2540552568713449,
+              0.059198659644148305,
+              1.1630791687137787
+            ],
+            "current_z": 1.1630791687137787,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30197248188507864,
+            "gripper_z": 1.1565104731102178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24881482177652745,
+              0.05419412015657486,
+              1.1565104731102178
+            ],
+            "object_minus_gripper": [
+              0.005240435094817447,
+              0.005004539487573442,
+              0.006568695603560881
+            ],
+            "object_to_gripper_xy": 0.0072462111110342484,
+            "object_to_gripper_z": 0.006568695603560881,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2540552568713449,
+              0.03509634396353936,
+              1.1630791687137787
+            ],
+            "finger_b": [
+              0.24270056201053172,
+              0.059198659644148305,
+              1.1630791687137787
+            ],
+            "finger_midpoint": [
+              0.2483779094409383,
+              0.04714750180384383,
+              1.1630791687137787
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056773474304065985,
+              0.012051157840304472,
+              0.0
+            ],
+            "finger_gap": 0.026643023787661653,
+            "fingertip_max_gap": 0.0907603397140882,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013321511893830833,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630791687137787,
+            "object_top_z": 1.2129419109674258,
+            "finger_top_clearance": 0.04986274225364706,
+            "fingertip_min_top_clearance": 0.014958822676094085,
+            "object_projection_between_fingers": 0.8183715359071377,
+            "object_to_finger_line_xy": 0.01027189864684372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478801698570441,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5369112638853647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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+              },
+              {
+                "frame": 409,
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+                  0.002038613996681149
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+                "rod_tip_xy": [
+                  0.31279532684211175,
+                  -0.34168589114343484
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+                  -0.3416874146994197,
+                  1.001548933456207
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+                "rod_tip_xy_dist": 0.0023065389943824704,
+                "target_xy_drift": 3.234408464151356e-08,
+                "depth": 0.01957010948051796,
+                "bottom_clearance": 0.07987054915130753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0010887319995798173,
+                  0.0020370590343447015
+                ],
+                "rod_tip_xy": [
+                  0.31278559676562734,
+                  -0.34168741469941966
+                ],
+                "target_mouth_xy": [
+                  0.31387432876520716,
+                  -0.34372447373376436
+                ],
+                "gripper_position": [
+                  0.31280305419207033,
+                  -0.341759575321449,
+                  1.000940792054577
+                ],
+                "rod_tip_xy_dist": 0.0023097503926429877,
+                "target_xy_drift": 3.257415445261397e-08,
+                "depth": 0.019710848320120378,
+                "bottom_clearance": 0.07972967833954192,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006115661725366494,
+              "rod_tip_xy_max_step": 3.308394335750394e-05,
+              "rod_tip_xy_range": 0.0006115596889535375,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3124389274381384,
+            -0.3430786015312174,
+            1.0435622007315284
+          ],
+          "object_origin_world": [
+            0.3124389274381384,
+            -0.3430786015312174,
+            1.0435622007315284
+          ],
+          "frame_world": [
+            0.3124371539080609,
+            -0.3430859044726487,
+            1.0434341228615878
+          ],
+          "center_minus_frame": [
+            1.7735300774646134e-06,
+            7.302941431308607e-06,
+            0.00012807786994062376
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27161915128701275,
+              0.15865835391760066,
+              0.8324435178166035
+            ],
+            "target_position": [
+              0.28002074041282077,
+              0.20547890504124933,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047568379280369576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17093003816929514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324435178166035,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671722844916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.139678022780137,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3c31c52888013642496212099dc080e00cd462a4f47652d096aca0fc929a132",
+    "visual_seed": 8312832290351037654,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf621bf424ad3432d698d88027effd98bc2aff5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25070273958754985,
+              0.059798078254102494,
+              1.161160124952791
+            ],
+            "current_z": 1.161160124952791,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3000536765426699,
+            "gripper_z": 1.1548374697449482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24540449181260748,
+              0.05482620969192638,
+              1.1548374697449482
+            ],
+            "object_minus_gripper": [
+              0.005298247774942366,
+              0.0049718685621761155,
+              0.006322655207842809
+            ],
+            "object_to_gripper_xy": 0.0072657350959305506,
+            "object_to_gripper_z": 0.006322655207842809,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25070273958754985,
+              0.03533068418803342,
+              1.161160124952791
+            ],
+            "finger_b": [
+              0.23979958699247156,
+              0.059798078254102494,
+              1.161160124952791
+            ],
+            "finger_midpoint": [
+              0.2452511632900107,
+              0.04756438122106796,
+              1.161160124952791
+            ],
+            "object_minus_finger_midpoint": [
+              0.005451576297539146,
+              0.012233697033034535,
+              0.0
+            ],
+            "finger_gap": 0.026786789820653658,
+            "fingertip_max_gap": 0.09074459969558216,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013393394910326829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161160124952791,
+            "object_top_z": 1.2111546360429133,
+            "finger_top_clearance": 0.04999451109012232,
+            "fingertip_min_top_clearance": 0.014998353327036695,
+            "object_projection_between_fingers": 0.83432276404398,
+            "object_to_finger_line_xy": 0.009959078071407142,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787229984779108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4651209757019168,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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",
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+                "rod_tip_xy": [
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+                "depth": 0.019259085302089307,
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+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016818313345417502,
+                  0.0021107432960096872
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+                "rod_tip_xy": [
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+                  -0.34479880780363126
+                ],
+                "target_mouth_xy": [
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+                  -0.34690955109964094
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+                "gripper_position": [
+                  0.3088271606349522,
+                  -0.34480028621054687,
+                  1.0017202342071176
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+                "target_xy_drift": 6.778787254685019e-08,
+                "depth": 0.01939946687729266,
+                "bottom_clearance": 0.08004117487315521,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006053264997132304,
+              "rod_tip_xy_max_step": 3.2755148899070856e-05,
+              "rod_tip_xy_range": 0.000605315089143429,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3084333561143095,
+            -0.3462837486681522,
+            1.043351269065949
+          ],
+          "object_origin_world": [
+            0.3084333561143095,
+            -0.3462837486681522,
+            1.043351269065949
+          ],
+          "frame_world": [
+            0.3084579124243849,
+            -0.3462801085985288,
+            1.0436442535284531
+          ],
+          "center_minus_frame": [
+            -2.4556310075418697e-05,
+            -3.6400696233895857e-06,
+            -0.00029298446250414223
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2705225873927579,
+              0.16081377716420692,
+              0.8318539993740125
+            ],
+            "target_position": [
+              0.2815889173783088,
+              0.20737843969101183,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04786158642987435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16553518239483925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318539993740125,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669622300724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346810949297809,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5d52c6e62e0bf53dbdd1d8c03949233c12acc949901f0237a2299e292e85baf",
+    "visual_seed": 3349600861548166669,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e750423a7ce17747a10765c5e7d2ee8797dc52b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2535853527794416,
+              0.06694126329019764,
+              1.1641577881929122
+            ],
+            "current_z": 1.1641577881929122,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3030510417595671,
+            "gripper_z": 1.1576491706289587,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24836159806651723,
+              0.061853098756508476,
+              1.1576491706289587
+            ],
+            "object_minus_gripper": [
+              0.005223754712924383,
+              0.0050881645336891684,
+              0.006508617563953489
+            ],
+            "object_to_gripper_xy": 0.00729225833488447,
+            "object_to_gripper_z": 0.006508617563953489,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2535853527794416,
+              0.04292745536116718,
+              1.1641577881929122
+            ],
+            "finger_b": [
+              0.24200659653354897,
+              0.06694126329019764,
+              1.1641577881929122
+            ],
+            "finger_midpoint": [
+              0.24779597465649528,
+              0.054934359325682414,
+              1.1641577881929122
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057893781229463315,
+              0.012006903964515231,
+              0.0
+            ],
+            "finger_gap": 0.026659530518262396,
+            "fingertip_max_gap": 0.09083675511760178,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013329765259131203,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641577881929122,
+            "object_top_z": 1.2140660821622076,
+            "finger_top_clearance": 0.049908293969295414,
+            "fingertip_min_top_clearance": 0.01497248819078859,
+            "object_projection_between_fingers": 0.8113664975997478,
+            "object_to_finger_line_xy": 0.010429667107432997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791837755880089,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5520478542078935,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "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": [
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+                "target_xy_drift": 4.5380807012346064e-08,
+                "depth": 0.01947785108378519,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
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+                  -0.0003268284321595871,
+                  0.0007564705530962446
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+                "rod_tip_xy": [
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+                  -0.3401069420320354
+                ],
+                "target_mouth_xy": [
+                  0.3134398513519997,
+                  -0.34086341258513164
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+                "gripper_position": [
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+                  1.001500083623524
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+                "target_xy_drift": 2.888079912753906e-08,
+                "depth": 0.01961881852118219,
+                "bottom_clearance": 0.07982174912511575,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006137066820715929,
+              "rod_tip_xy_max_step": 3.328003965782377e-05,
+              "rod_tip_xy_range": 0.0006136952548223482,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3127191157733933,
+            -0.34151960163604017,
+            1.043364006817427
+          ],
+          "object_origin_world": [
+            0.3127191157733933,
+            -0.34151960163604017,
+            1.043364006817427
+          ],
+          "frame_world": [
+            0.31271734874619567,
+            -0.34152654269627,
+            1.0432361482727301
+          ],
+          "center_minus_frame": [
+            1.7670271976188978e-06,
+            6.941060229803675e-06,
+            0.0001278585446968794
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27540920933117363,
+              0.16029062875691716,
+              0.8314760470247184
+            ],
+            "target_position": [
+              0.28620220347363895,
+              0.2070999920897238,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04803753967661118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16945869127292865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314760470247184,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567021901581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390285185406142,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b632586fcfcc90f57dc7fe6c7333575efd7e3769ad5b008fe1d7f5d04875a8ad",
+    "visual_seed": 590417686289711960,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2229e2b6e49e21319b92318ae64402c75cdd1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24975340879279934,
+              0.06816807365111628,
+              1.1599608324334865
+            ],
+            "current_z": 1.1599608324334865,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.2988543244187206,
+            "gripper_z": 1.1537750163234273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24435758344271946,
+              0.06317970207325199,
+              1.1537750163234273
+            ],
+            "object_minus_gripper": [
+              0.005395825350079875,
+              0.0049883715778642895,
+              0.006185816110059195
+            ],
+            "object_to_gripper_xy": 0.0073483863675917905,
+            "object_to_gripper_z": 0.006185816110059195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24975340879279934,
+              0.04383542486318467,
+              1.1599608324334865
+            ],
+            "finger_b": [
+              0.238583870609748,
+              0.06816807365111628,
+              1.1599608324334865
+            ],
+            "finger_midpoint": [
+              0.24416863970127367,
+              0.05600174925715047,
+              1.1599608324334865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005584769091525665,
+              0.01216632439396581,
+              0.0
+            ],
+            "finger_gap": 0.02677380025807826,
+            "fingertip_max_gap": 0.09046037803893636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013386900129039132,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1599608324334865,
+            "object_top_z": 1.2097870997878999,
+            "finger_top_clearance": 0.04982626735441342,
+            "fingertip_min_top_clearance": 0.014947880206324026,
+            "object_projection_between_fingers": 0.8259594704477986,
+            "object_to_finger_line_xy": 0.010151134583503004,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773018901946818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2828228353274273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              },
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+                "rod_tip_xy": [
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+                "depth": 0.019499755043315026,
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+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -4.972410426951068e-05,
+                  0.002895324285052625
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+                "rod_tip_xy": [
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+                  -0.3406254495767641
+                ],
+                "target_mouth_xy": [
+                  0.31158078451249493,
+                  -0.34352077386181673
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+                  1.0014793653065222
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+                "target_xy_drift": 2.8850022808123053e-08,
+                "depth": 0.019640032783058814,
+                "bottom_clearance": 0.07980051521303544,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006111501218778392,
+              "rod_tip_xy_max_step": 3.304857396471846e-05,
+              "rod_tip_xy_range": 0.0006111386803710862,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31118577590679475,
+            -0.34205356572723855,
+            1.043286455391755
+          ],
+          "object_origin_world": [
+            0.31118577590679475,
+            -0.34205356572723855,
+            1.043286455391755
+          ],
+          "frame_world": [
+            0.3112104954844218,
+            -0.34205071637969636,
+            1.0435813745599012
+          ],
+          "center_minus_frame": [
+            -2.471957762706367e-05,
+            -2.849347542188685e-06,
+            -0.0002949191681462793
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27218833124164515,
+              0.16075066476142263,
+              0.8313849760311194
+            ],
+            "target_position": [
+              0.2831927695320784,
+              0.2072239944991281,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04775843421844409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16886176062817568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313849760311194,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669397388277,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13911324862403515,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "560c406ee2450848b23dc44a921bc6198e044a61defe95be98067b87d13e1678",
+    "visual_seed": 8886617044009006806,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5999d1bcf8d5e44db557fcfa65e45ec1b7bd675e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_3_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25265764114528033,
+              0.06353651296172928,
+              1.160641472234018
+            ],
+            "current_z": 1.160641472234018,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.2995346661960281,
+            "gripper_z": 1.154254463307469,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.247361505266641,
+              0.05845183686339123,
+              1.154254463307469
+            ],
+            "object_minus_gripper": [
+              0.005296135878639335,
+              0.005084676098338056,
+              0.006387008926548976
+            ],
+            "object_to_gripper_xy": 0.007341865312713191,
+            "object_to_gripper_z": 0.006387008926548976,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25265764114528033,
+              0.03942478463064728,
+              1.160641472234018
+            ],
+            "finger_b": [
+              0.2411450676442393,
+              0.06353651296172928,
+              1.160641472234018
+            ],
+            "finger_midpoint": [
+              0.2469013543947598,
+              0.051480648796188286,
+              1.160641472234018
+            ],
+            "object_minus_finger_midpoint": [
+              0.005756286750520534,
+              0.012055864165540997,
+              0.0
+            ],
+            "finger_gap": 0.026719183964499644,
+            "fingertip_max_gap": 0.09068671744831766,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013359591982249824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160641472234018,
+            "object_top_z": 1.210538270067037,
+            "finger_top_clearance": 0.049896797833019146,
+            "fingertip_min_top_clearance": 0.014969039349905743,
+            "object_projection_between_fingers": 0.8143485046780964,
+            "object_to_finger_line_xy": 0.010389091411531558,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784335872415883,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4149996245390891,
+            "object_max_tilt_deg": 15.0,
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+                "inserted": true,
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+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0011530885109348743
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+                "rod_tip_xy": [
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+                "target_xy_drift": 4.3470019541354004e-08,
+                "depth": 0.01943675066807804,
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+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006113260735491498,
+              "rod_tip_xy_max_step": 3.308998295847163e-05,
+              "rod_tip_xy_range": 0.000611319895975968,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31233668759433686,
+            -0.3472303272041427,
+            1.043352102795501
+          ],
+          "object_origin_world": [
+            0.31233668759433686,
+            -0.3472303272041427,
+            1.043352102795501
+          ],
+          "frame_world": [
+            0.3123349177779657,
+            -0.34723771223108124,
+            1.0432233624318146
+          ],
+          "center_minus_frame": [
+            1.7698163711776793e-06,
+            7.385026938533379e-06,
+            0.0001287403636864859
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27079982825570764,
+              0.16023218791965663,
+              0.8316871281884595
+            ],
+            "target_position": [
+              0.28062762546468023,
+              0.2071042360227051,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047891277821281615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1682810327952585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316871281884595,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672857722307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13816255850613612,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "785732dafcd0fcc387d96402da366b88fa2b67943950c05307271986972ca63b",
+    "visual_seed": 1006201470627904177,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7a4a0337c9ce82dcc41daba5c4e3ea6725b6d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25273238033998335,
+              0.06710015579183005,
+              1.1634475941628537
+            ],
+            "current_z": 1.1634475941628537,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3023411457527325,
+            "gripper_z": 1.1572649106625468,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24723302970262642,
+              0.06196955086313105,
+              1.1572649106625468
+            ],
+            "object_minus_gripper": [
+              0.005499350637356931,
+              0.0051306049286990035,
+              0.006182683500306929
+            ],
+            "object_to_gripper_xy": 0.007521034793629703,
+            "object_to_gripper_z": 0.006182683500306929,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25273238033998335,
+              0.04260743700878994,
+              1.1634475941628537
+            ],
+            "finger_b": [
+              0.2414474446756742,
+              0.06710015579183005,
+              1.1634475941628537
+            ],
+            "finger_midpoint": [
+              0.24708991250782877,
+              0.05485379640031,
+              1.1634475941628537
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564246783215458,
+              0.012246359391520058,
+              0.0
+            ],
+            "finger_gap": 0.02696744419355833,
+            "fingertip_max_gap": 0.09066136423129381,
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+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                "target_mouth_xy": [
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+                "target_xy_drift": 3.3815503139262638e-09,
+                "depth": 0.019508477582363404,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006114670850372112,
+              "rod_tip_xy_max_step": 3.339794183196582e-05,
+              "rod_tip_xy_range": 0.0006114582504906163,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3159252986536703,
+            -0.3441804255772691,
+            1.0434304928620972
+          ],
+          "object_origin_world": [
+            0.3159252986536703,
+            -0.3441804255772691,
+            1.0434304928620972
+          ],
+          "frame_world": [
+            0.31594986171468376,
+            -0.34417736002069166,
+            1.043722303847769
+          ],
+          "center_minus_frame": [
+            -2.4563061013449516e-05,
+            -3.0655565774195814e-06,
+            -0.0002918109856717699
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27497831204883394,
+              0.16075255344721778,
+              0.8325263537278083
+            ],
+            "target_position": [
+              0.28337244197157596,
+              0.20769694727641014,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04768896653472568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17037401819245174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325263537278083,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672505290591,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1394439358985563,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7854548f44670f1fbeeba2fffbf72a478959828ea737ad78474817c5e524dd8f",
+    "visual_seed": 1710738808923616344,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3340c779ed80cc4a8b7a87770543bb02c56c0c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_41_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.25584200856359496,
+              0.0649158341878401,
+              1.1625859219138013
+            ],
+            "current_z": 1.1625859219138013,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3014792350851009,
+            "gripper_z": 1.1561022214535226,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2504946469333572,
+              0.05994422393906702,
+              1.1561022214535226
+            ],
+            "object_minus_gripper": [
+              0.005347361630237746,
+              0.004971610248773073,
+              0.006483700460278685
+            ],
+            "object_to_gripper_xy": 0.0073014508743293165,
+            "object_to_gripper_z": 0.006483700460278685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25584200856359496,
+              0.04044506617235508,
+              1.1625859219138013
+            ],
+            "finger_b": [
+              0.244907163838014,
+              0.0649158341878401,
+              1.1625859219138013
+            ],
+            "finger_midpoint": [
+              0.2503745862008045,
+              0.05268045018009759,
+              1.1625859219138013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005467422362790464,
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+              }
+            ],
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+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006091673525340626,
+              "rod_tip_xy_max_step": 3.304989531137775e-05,
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+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31771435120692365,
+            -0.3471184838468093,
+            1.0433953447121258
+          ],
+          "object_origin_world": [
+            0.31771435120692365,
+            -0.3471184838468093,
+            1.0433953447121258
+          ],
+          "frame_world": [
+            0.3177388250700693,
+            -0.3471148791694829,
+            1.0436867774991578
+          ],
+          "center_minus_frame": [
+            -2.4473863145635377e-05,
+            -3.6046773264075682e-06,
+            -0.000291432787032031
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2769362112100932,
+              0.15561581276694977,
+              0.8316472401493765
+            ],
+            "target_position": [
+              0.28718164064304436,
+              0.20193174674944592,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04743558332029367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16889223480914758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316472401493765,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668766082487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387507184348554,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9e57af9f624891a606953af0c2f6e1156628e8807c3813a1da01c2962eff51c",
+    "visual_seed": 37611691657546142,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b642277f184ec1df01cb4ffc97c21311043e49db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_42_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25509804498108757,
+              0.060712681389400336,
+              1.1634829165366947
+            ],
+            "current_z": 1.1634829165366947,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30237652773121815,
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+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006173780323725762,
+              "rod_tip_xy_max_step": 3.345673893538141e-05,
+              "rod_tip_xy_range": 0.0006173723820930285,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3169246566638352,
+            -0.3372685010367902,
+            1.0433162397241138
+          ],
+          "object_origin_world": [
+            0.3169246566638352,
+            -0.3372685010367902,
+            1.0433162397241138
+          ],
+          "frame_world": [
+            0.31692292524099264,
+            -0.3372754022930475,
+            1.043187404511676
+          ],
+          "center_minus_frame": [
+            1.731422842543573e-06,
+            6.901256257296762e-06,
+            0.0001288352124377834
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27811469919715975,
+              0.15939197540125455,
+              0.8329322473129407
+            ],
+            "target_position": [
+              0.28546327715636455,
+              0.2069171157134695,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04808992160232982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1709322136746746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329322473129407,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670379288964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13933200921883462,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e578969c09e0cf45fdad041abb9e524ccedfe4d4adab322b3a0fd96e3c122d6",
+    "visual_seed": 6363359064938271120,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..005b151ad9b2292482268705dbfa4ef3cca02440
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25102362938999523,
+              0.059289606437587704,
+              1.1623404618246203
+            ],
+            "current_z": 1.1623404618246203,
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+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006114035228859905,
+              "rod_tip_xy_max_step": 3.315091251721629e-05,
+              "rod_tip_xy_range": 0.0006113962140640116,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31088640570914583,
+            -0.34390725943019584,
+            1.043566385204807
+          ],
+          "object_origin_world": [
+            0.31088640570914583,
+            -0.34390725943019584,
+            1.043566385204807
+          ],
+          "frame_world": [
+            0.3108847280705265,
+            -0.34391426013995313,
+            1.0434387267068843
+          ],
+          "center_minus_frame": [
+            1.6776386193573245e-06,
+            7.000709757287726e-06,
+            0.00012765849792262252
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2723550271561027,
+              0.15800604313188224,
+              0.8312023807890653
+            ],
+            "target_position": [
+              0.2843943000046857,
+              0.20388714906104854,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0474343754254866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16689512419210592,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312023807890653,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669556674085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137478418960105,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "471c6183bbe7ba76a22ee320920fd70f6a8d12525d072f5719575b10424d0fc9",
+    "visual_seed": 2042638559730380314,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d01d0d655a66c863d00dd665f3fad9511f067e18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_44_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25097285374544065,
+              0.06252624908079157,
+              1.1611058234639984
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006106206873655351,
+              "rod_tip_xy_max_step": 3.313549315915089e-05,
+              "rod_tip_xy_range": 0.0006106109094248134,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3077283567556222,
+            -0.3418006498708375,
+            1.043352916131608
+          ],
+          "object_origin_world": [
+            0.3077283567556222,
+            -0.3418006498708375,
+            1.043352916131608
+          ],
+          "frame_world": [
+            0.30775297320555384,
+            -0.34179778530849597,
+            1.0436475048592933
+          ],
+          "center_minus_frame": [
+            -2.4616449931624818e-05,
+            -2.8645623415535226e-06,
+            -0.00029458872768528543
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27712684845433017,
+              0.15765459437607793,
+              0.8323902219402906
+            ],
+            "target_position": [
+              0.28582484688554277,
+              0.20465831667856754,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0478017268202618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1710831018294109,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323902219402906,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669842518301,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1401832767747592,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9de833ac2060882db67592d7eef5a0c20034bec47c784b7c243af176f5e874a",
+    "visual_seed": 4978645443815625859,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd4119c14d6ebc392cc2691642c7a88b419517af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_45_success.json
@@ -0,0 +1,2008 @@
+{
+  "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",
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+            "best_motion_qualified_streak": {
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+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006124400820122339,
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+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3150218654422891,
+            -0.3452351827838626,
+            1.04332202844761
+          ],
+          "object_origin_world": [
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+            -0.3452351827838626,
+            1.04332202844761
+          ],
+          "frame_world": [
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+            -0.345242651809284,
+            1.0431927185130865
+          ],
+          "center_minus_frame": [
+            1.531555397615847e-06,
+            7.469025421369402e-06,
+            0.00012930993452342499
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27591521912412525,
+              0.1585897313417259,
+              0.8316874245958784
+            ],
+            "target_position": [
+              0.2858222697077794,
+              0.20514289579109773,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04759565916674901,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16963349892380228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316874245958784,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671590819115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13907037610227174,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5add468bed18d2101249b45c7ddf87b880532c34e7b0e14ec21e13140f799f3",
+    "visual_seed": 682656368042636113,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cdbd8e9cc1cdb18dcb770ce98fd3da3ee06e4e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_46_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "panda_joint7",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
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+                },
+                {
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+                "fr3_leftfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
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+                "wrist_2_joint",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint4",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "rizon4",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
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+      "target": "glass_rod",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "glass_rod",
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+          "metrics": {
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+    "task_island_state_digest": "cd157f93857292e1ac08e3e51ed40b9dfd00b8add0a8507343a4b1c3bd70842b",
+    "visual_seed": 2391363175378533748,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d25761c6207d6b13c0fc36381e11e16bd684dd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.2499392457511211,
+              0.06193935209772802,
+              1.1616689700262728
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3005624620115068,
+            "gripper_z": 1.1553766900377258,
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+            "gripper_position": [
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+              0.056976639873473955,
+              1.1553766900377258
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+              0.0053288014780593085,
+              0.004962712224254068,
+              0.006292279988546978
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+            "object_to_gripper_xy": 0.007281801824639821,
+            "object_to_gripper_z": 0.006292279988546978,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2499392457511211,
+              0.037591205480700184,
+              1.1616689700262728
+            ],
+            "finger_b": [
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+              0.06193935209772802,
+              1.1616689700262728
+            ],
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+              0.24441274100711535,
+              0.04976527878921411,
+              1.1616689700262728
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012174073308513916,
+              0.0
+            ],
+            "finger_gap": 0.026739507520265885,
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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,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.2115725817870446,
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+            "fingertip_min_top_clearance": 0.01497108352823152,
+            "object_projection_between_fingers": 0.8291345412069747,
+            "object_to_finger_line_xy": 0.010064519526754053,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779680125691098,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.26318761298290383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3109663036285761,
+              -0.3375209844674324,
+              0.8515395571981004
+            ],
+            "target_position": [
+              0.30143449344811585,
+              -0.3393049048825425,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009697307737912206,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18784881474260418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395571981004,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513308163137697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007623195648193359,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517726659114998,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007623195648193359,
+            "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": 0.021093986931440812,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007623195648193359,
+            "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": 0.007623218138388657,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3955663740634918,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_active_finger": [
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+              0.810624897480011
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.05969187617301941,
+              0.03421640396118164
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+            "min_contact_pad_to_button": 0.021093986931440812,
+            "closest_contact_pad": [
+              0.15711607038974768,
+              -0.3958465875859785,
+              0.7902778214359948
+            ],
+            "closest_contact_pad_button": [
+              0.15711607038974768,
+              -0.3955689072608948,
+              0.7691856622695923
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002776803250837401,
+              0.021092159166402502
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [],
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+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce573bb1e40d66a6d1fa10bf07abb7a185593e79e65dd551baabd2da29a474e8",
+    "visual_seed": 2499786105340355786,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
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+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c55799c35f585c34bbf49eaeab36978b48d690
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_48_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.2524448511536007,
+              0.06455560298054233,
+              1.161243129517933
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+            "current_z": 1.161243129517933,
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+            "gripper_z": 1.154914551805904,
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+              0.05960890094420224,
+              1.154914551805904
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+              0.005306115399180744,
+              0.004946702036340095,
+              0.006328577712028993
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+            "object_to_gripper_xy": 0.0072542898801849845,
+            "object_to_gripper_z": 0.006328577712028993,
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+            "finger_a": [
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+              0.04029693774810464,
+              1.161243129517933
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+            "finger_b": [
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+              0.06455560298054233,
+              1.161243129517933
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+              0.052426270364323485,
+              1.161243129517933
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+              0.012129332616218846,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014952883847930908,
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+            "object_to_finger_line_xy": 0.010112310591462458,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35732627124350963,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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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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+              "ignored": [],
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.34219750132300186,
+              0.8515395793874454
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+              0.3099004567901041,
+              -0.3439996311655611,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18700720409593743,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395793874454,
+            "min_z": 0.5774145980897916,
+            "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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+            "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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "min_ee_to_button": 0.03507200835857312,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008115530014038086,
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+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008115530014038086,
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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": 0.008115554579381462,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06143206357955938,
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+            "min_contact_pad_to_button": 0.02098369528584354,
+            "closest_contact_pad": [
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+              -0.4002476632595061,
+              0.7896770231895911
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+              0.1656151562929153,
+              -0.4002476632595061,
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              0.0,
+              0.02098369528584354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e06b8a8925e25b562d5e0ba3b6594cb1244a725b07acd6b2ab72284e75d1fc9f",
+    "visual_seed": 5924253725945835476,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5feb49efd051b60468625f6972af2de18adb8000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.06511036636534069,
+              1.1625008678816227
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+            "gripper_z": 1.1559047195453984,
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+              0.060056654209751745,
+              1.1559047195453984
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+              0.005116641895707236,
+              0.005053712155588946,
+              0.006596148336224239
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+            "object_to_gripper_z": 0.006596148336224239,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.04112075157599008,
+              1.1625008678816227
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+            "finger_b": [
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+              0.06511036636534069,
+              1.1625008678816227
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+              0.05311555897066539,
+              1.1625008678816227
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+              0.011994807394675303,
+              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": 0.01034028348139355,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3178831530319236,
+              -0.3371482774223019,
+              0.8515395758700499
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+              0.30879464455475997,
+              -0.3389106236936035,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18444268209121328,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395758700499,
+            "min_z": 0.5774145980897916,
+            "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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+            "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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "min_ee_to_button": 0.035164229338985865,
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+            "ee_contact_ok": true,
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+            "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": 0.008030235767364502,
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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": 0.00803025440416352,
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+            "button_start": [
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021058115063868867,
+            "closest_contact_pad": [
+              0.16447734832763672,
+              -0.3954510467776509,
+              0.7898349107138607
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+              0.16447734832763672,
+              -0.39517369866371155,
+              0.7687786221504211
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              0.02105628856343955
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d672b40f7eefc202e73c9f521bb42b9f3adf1955b3a6a65c4584e281cea0fa66",
+    "visual_seed": 6684309234778232395,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb25099fc805c86885946275d9b205bce18fac2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_4_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.1613861899491251
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+            "lift_margin": 0.30027974153900405,
+            "gripper_z": 1.1549605684607844,
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+              0.05339796070372958,
+              1.1549605684607844
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+              0.005009470045267209,
+              0.006425621488340694
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+              0.03416136976805488,
+              1.1613861899491251
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+              0.05840743074899679,
+              1.1613861899491251
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+              0.046284400258525836,
+              1.1613861899491251
+            ],
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+              0.012123030490470955,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
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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"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3443330972525433,
+              0.8515396424692069
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+              -0.3459579421452837,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
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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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "target": "heat_button",
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+          "metrics": {
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+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008059024810791016,
+            "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": 0.00805902959090562,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4022132754325866,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021021437046056766,
+            "closest_contact_pad": [
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+              -0.40233459981146785,
+              0.789770920040748
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+            "closest_contact_pad_button": [
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+              -0.4022132754325866,
+              0.7687498331069946
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012132437888123793,
+              0.021021086933753375
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+  "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": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90c1813ccc70af6d31b88f6b0eaa1c021fd77bbf921406479749ce0db832e2d4",
+    "visual_seed": 5950838288660792518,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      4530951244343176879,
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+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d882978e951cea745ee2bbb957099355acda0ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.1603027363923553
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+              0.055669946117299654,
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+              0.005084744764917881,
+              0.006233695470298617
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+              0.048599874937891474,
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+              0.0,
+              1.0
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+            "stable_success_frames": 345,
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+            "required_stable_lift_frames": 5
+          },
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+              -0.34226800422133,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "skill": "place",
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+              "held_object": "beaker_a",
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+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "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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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "max_contact_point_stable_frames": 121,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "button_max_displacement": 0.008047052196812779,
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+            "closest_active_finger_minus_button": [
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+              0.014038950204849188,
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+            "closest_contact_pad_minus_button": [
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+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26203dcf72e92e8ec4fdd1ed1dfca5d3276e398141d51f19df88932b0b2dd059",
+    "visual_seed": 1871417708190236847,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ce3f85a60787ba185a0f3a7d8ced94b8d2e19c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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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+          "metrics": {
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+              0.06227889243972463,
+              1.1607614060619094
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+              0.057212750862830467,
+              1.1543237628955985
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+              0.005066141576894161,
+              0.006437643166310902
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+            "object_to_gripper_z": 0.006437643166310902,
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+              0.03824015291194947,
+              1.1607614060619094
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+              0.06227889243972463,
+              1.1607614060619094
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+              0.05025952267583705,
+              1.1607614060619094
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+              0.01201936976388758,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010386535351200644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
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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"
+              ],
+              "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.34318854848876523,
+              0.8515395095330157
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+              0.30372522232940813,
+              -0.34497535025704923,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487829253425417,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
+            "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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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "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
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "max_contact_point_stable_frames": 122,
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+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00805783975701512,
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+              -0.40123221278190613,
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "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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+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a460e94f87b84fbac90dde32d943b2f8ae320ba82784715140636b3abd4e1b5",
+    "visual_seed": 7967117256326426928,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb74b58f7f4d221c629cecde68ff571fc1af4e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.06255143159243907,
+              1.1629702369041057
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+            "required_z": 0.8611064484101212,
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+            "lift_margin": 0.30186378849398454,
+            "gripper_z": 1.1565616235632359,
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+              0.05752399287621687,
+              1.1565616235632359
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+              0.005313143245196689,
+              0.005027438716222202,
+              0.00640861334086984
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+            "object_to_gripper_z": 0.00640861334086984,
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+              0.25130762729609546,
+              0.03833790535808005,
+              1.1629702369041057
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+              0.06255143159243907,
+              1.1629702369041057
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+              0.24565042513125973,
+              0.050444668475259566,
+              1.1629702369041057
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+              0.012106763117179509,
+              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": 0.010250526869959127,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477971261019893,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3087086101035853,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31333977440164573,
+              -0.33998231729792305,
+              0.8515395593870183
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+              0.30374551520092274,
+              -0.3418170373114316,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009768111748880972,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537127774935055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395593870183,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549366895960795,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362913106475465,
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+            "release_gap_ok": false,
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+            "object_tilt_deg": 0.25022906746459506,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
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+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
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+          "passed": true,
+          "metrics": {
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+            "ee_contacted_z_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100860962398604,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007950007915496826,
+            "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": 0.00795002829536061,
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+            "button_start": [
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.0588398277759552,
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+            "min_contact_pad_to_button": 0.021100860962398604,
+            "closest_contact_pad": [
+              0.15942765772342682,
+              -0.39808133244514465,
+              0.7899597109646874
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+            "closest_contact_pad_button": [
+              0.15942765772342682,
+              -0.39808133244514465,
+              0.7688588500022888
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021100860962398604
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb99d680fa7c2ad7913e43a7cc9b99c71df2d473d17fef6a8671b3e88d898479",
+    "visual_seed": 430477444707704313,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86b4afa97158ea4709764cccc5b2e342ce445
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_53_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 53,
+  "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": [
+              0.2527500786835498,
+              0.06766369827253087,
+              1.1640212981783153
+            ],
+            "current_z": 1.1640212981783153,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3029147901635494,
+            "gripper_z": 1.157646836406571,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2474137642795419,
+              0.06266067479761789,
+              1.157646836406571
+            ],
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+              0.005336314404007919,
+              0.005003023474912979,
+              0.0063744617717442775
+            ],
+            "object_to_gripper_xy": 0.0073148134158673335,
+            "object_to_gripper_z": 0.0063744617717442775,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2527500786835498,
+              0.043178904191550696,
+              1.1640212981783153
+            ],
+            "finger_b": [
+              0.2417884938001711,
+              0.06766369827253087,
+              1.1640212981783153
+            ],
+            "finger_midpoint": [
+              0.24726928624186045,
+              0.05542130123204078,
+              1.1640212981783153
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480792441689364,
+              0.012242397040490086,
+              0.0
+            ],
+            "finger_gap": 0.026826507121567627,
+            "fingertip_max_gap": 0.09070800364784048,
+            "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": 1.1640212981783153,
+            "object_top_z": 1.2140298567532728,
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+            "fingertip_min_top_clearance": 0.015002567572487201,
+            "object_projection_between_fingers": 0.8330376909567078,
+            "object_to_finger_line_xy": 0.0100047370108401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047854001823920245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4330592216134775,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31438541396940345,
+              -0.34053075970552804,
+              0.8515395608361931
+            ],
+            "target_position": [
+              0.30649801605205784,
+              -0.3418196771492697,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007992018148335835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841843799002739,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395608361931,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555963463057278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673009520220974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15205619421471425,
+            "release_required_pad_clearance": 0.05336504760110487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.746249747860408,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008059322834014893,
+            "max_z_decrease": 0.008059322834014893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514613158745849,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008059322834014893,
+            "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": 0.021052390527027762,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008059322834014893,
+            "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": 0.008059327232037203,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.39808112382888794,
+              0.7768088579177856
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+            "button_final": [
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+              -0.39808112382888794,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+              0.0004849700202979035,
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+              -0.3980765640735626,
+              0.7687495350837708
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+            "min_active_finger_to_button": 0.14488307089461436,
+            "closest_active_finger": [
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+              -0.4605286717414856,
+              0.8108742833137512
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+            "closest_active_finger_button": [
+              0.16220210492610931,
+              -0.3980828821659088,
+              0.7766963243484497
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12618833035230637,
+              -0.06244578957557678,
+              0.034177958965301514
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+            "min_contact_pad_to_button": 0.021052390527027762,
+            "closest_contact_pad": [
+              0.16219086945056915,
+              -0.3987704091418371,
+              0.7897904886249894
+            ],
+            "closest_contact_pad_button": [
+              0.16219086945056915,
+              -0.3980765640735626,
+              0.7687495350837708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006938450682744679,
+              0.0210409535412186
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5417c951cdb561472bfc8d957c12053d78048be8dede2e93fc82399beb341436",
+    "visual_seed": 3734860919907144085,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d64c43f378a8c454870a11b4f55d7967a030ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.05926209888386512,
+              1.1639459163511878
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+            "lift_margin": 0.30283922952248776,
+            "gripper_z": 1.1574606834583312,
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+            "gripper_position": [
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+              0.05422731585004825,
+              1.1574606834583312
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+              0.0051696723924636034,
+              0.005034783033816867,
+              0.006485232892856629
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+            "object_to_gripper_z": 0.006485232892856629,
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+            "finger_a": [
+              0.25300229736277074,
+              0.035262718857015755,
+              1.1639459163511878
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+            "finger_b": [
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+              0.05926209888386512,
+              1.1639459163511878
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+            "finger_midpoint": [
+              0.24726578673431032,
+              0.047262408870440434,
+              1.1639459163511878
+            ],
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+              0.011999690013424685,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09099678167537278,
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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": 1.213891828122518,
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+            "object_to_finger_line_xy": 0.010351034788859358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047998390837686394,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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/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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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31491403907057647,
+              -0.34430783516953867,
+              0.8515395591963898
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+            "target_position": [
+              0.3062535919181065,
+              -0.3460011258778753,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008824430763718636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576687268509354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395591963898,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574558203300515,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579375611329902,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15330964404502107,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.8336814159188464,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352477827449503,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
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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": 0.021227377087187544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008037805557250977,
+            "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": 0.008037820718957136,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+              -0.4022612869739532,
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+            "closest_active_finger": [
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+            "closest_active_finger_button": [
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.012739688158035167,
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+            "min_contact_pad_to_button": 0.021227377087187544,
+            "closest_contact_pad": [
+              0.16193796694278717,
+              -0.4050839490953186,
+              0.7898099239212972
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+            "closest_contact_pad_button": [
+              0.16193796694278717,
+              -0.4022612869739532,
+              0.7687710523605347
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028226621213653935,
+              0.021038871560762562
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10068a43d390051f65c73a53571138fd95b333162894f86094037598236bee65",
+    "visual_seed": 346271517774310770,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..908b2b8f52b7826051e16c9d106b2b39862d8489
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_55_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              0.06615298986033538,
+              1.1636304947235954
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+            "current_z": 1.1636304947235954,
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+            "lift_margin": 0.3025239867088293,
+            "gripper_z": 1.1570958951788919,
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+            "virtual_attach_allowed": false,
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+              0.061104773479293675,
+              1.1570958951788919
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+              0.005107423056264659,
+              0.005048216381041706,
+              0.006534599544703479
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+            "object_to_gripper_z": 0.006534599544703479,
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+            "finger_a": [
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+              0.0421423376329446,
+              1.1636304947235954
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+            "finger_b": [
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+              0.06615298986033538,
+              1.1636304947235954
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+              0.24562824883310796,
+              0.05414766374663999,
+              1.1636304947235954
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+              0.01200532611369539,
+              0.0
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+            "finger_gap": 0.026587339479373258,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.2135586922826198,
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+            "fingertip_min_top_clearance": 0.014978459267707333,
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+            "object_to_finger_line_xy": 0.010311612177715536,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047805145467788634,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25650032974434134,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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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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+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3389891095048071,
+              0.8515395633597811
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+            "target_position": [
+              0.30521908703999084,
+              -0.34071236981252573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009673802816595127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18671727793961818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633597811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752180147627842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "object_tilt_deg": 1.412750666029577,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035190060346651245,
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
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+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021060250764543285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00803917646408081,
+            "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": 0.00803918722726934,
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+            "button_start": [
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+            "button_final": [
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021060250764543285,
+            "closest_contact_pad": [
+              0.1609058678150177,
+              -0.39746114179419384,
+              0.7898242801462336
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+            "closest_contact_pad_button": [
+              0.1609058678150177,
+              -0.39697325229644775,
+              0.7687696814537048
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004878894977460857,
+              0.021054598692528792
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3c6a1b2647ffa867127c03e27c3878a563d7c016f5a0ce9c2fb21b26f110350",
+    "visual_seed": 5677305947342673632,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..594d8e11489cfbe6cfcd2b5d64bb8babce36924c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
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+              0.06575417168094852,
+              1.1633684884076723
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+            "current_z": 1.1633684884076723,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3022619207882613,
+            "gripper_z": 1.156914956128115,
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+            "gripper_position": [
+              0.24791950032742627,
+              0.06075235915422916,
+              1.156914956128115
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+              0.005313508506685549,
+              0.005001812526719357,
+              0.006453532279557361
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+            "object_to_gripper_xy": 0.007297362619677493,
+            "object_to_gripper_z": 0.006453532279557361,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.041516308906663385,
+              1.1633684884076723
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+            "finger_b": [
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+              0.06575417168094852,
+              1.1633684884076723
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+            "finger_midpoint": [
+              0.2476102722857167,
+              0.05363524029380595,
+              1.1633684884076723
+            ],
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+              0.012118931387142567,
+              0.0
+            ],
+            "finger_gap": 0.026719555704309714,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8228680119050344,
+            "object_to_finger_line_xy": 0.01020100172204411,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782529923529813,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3205537203704982,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3156371202139262,
+              -0.3438405067873227,
+              0.8515395713571338
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+            "target_position": [
+              0.3064974880855602,
+              -0.3456271522944108,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009312624635936857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868062431418153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395713571338,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547452146187081,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.09691328509480568,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035246239521473224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00794363021850586,
+            "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": 0.021157983728858305,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00794363021850586,
+            "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": 0.007943651894269866,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+              0.7688652276992798
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+            "min_active_finger_to_button": 0.14374987344978502,
+            "closest_active_finger": [
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+            "closest_active_finger_button": [
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+              -0.40189105272293085,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.012674391269683782,
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+            "min_contact_pad_to_button": 0.021157983728858305,
+            "closest_contact_pad": [
+              0.1621788740158081,
+              -0.4040240380095235,
+              0.7899152611563532
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+            "closest_contact_pad_button": [
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+              -0.4018894731998443,
+              0.7688652276992798
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002134564809679218,
+              0.021050033457073458
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9dc68ebeeff76bb93b5e35e4525bb7eb041f2662771581f92a8b7afeca89391",
+    "visual_seed": 9016292831554453062,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31df1bae9c88d33ced8c897a820cafcfa01435fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_57_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              0.06173933905918452,
+              1.1626581099969946
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+            "current_z": 1.1626581099969946,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30155160198222863,
+            "gripper_z": 1.1563729520924195,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.0567765912246042,
+              1.1563729520924195
+            ],
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+              0.0052828507830124105,
+              0.004962747834580325,
+              0.006285157904575067
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+            "object_to_gripper_z": 0.006285157904575067,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.03751890135552852,
+              1.1626581099969946
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+              0.06173933905918452,
+              1.1626581099969946
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+              0.24211202683933802,
+              0.04962912020735652,
+              1.1626581099969946
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012110218851828003,
+              0.0
+            ],
+            "finger_gap": 0.0266755109157518,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010149463161045362,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779480174347377,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31801103503573225,
+              -0.3448512356495249,
+              0.851539567223872
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+            "target_position": [
+              0.3079966145029277,
+              -0.3469765481878734,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010237459254791616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18719718295684995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539567223872,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753562184599611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515120149704573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15578710517778668,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.21670471959298837,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035155674664912366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007988333702087402,
+            "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": 0.021113947337373606,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007988333702087402,
+            "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": 0.00798835427963256,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "min_active_finger_to_button": 0.14507208754308062,
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+              -0.3878743648529053,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.015366941690445002,
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+            "min_contact_pad_to_button": 0.021113947337373606,
+            "closest_contact_pad": [
+              0.1636784821748733,
+              -0.4046926397802403,
+              0.7898844144134199
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+            "closest_contact_pad_button": [
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+              -0.4032396078109741,
+              0.7688205242156982
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0014530319692661608,
+              0.021063890197721702
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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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": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8069a2f76b585d90299072966d112b4481a386912d1c4704441f3b2ebf638552",
+    "visual_seed": 4853378852009801304,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f64c4eef921e4a8bd22dc0130d33477f5774a97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_58_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.24805497083643477,
+              0.06090769130338644,
+              1.1610775155809927
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+            "current_z": 1.1610775155809927,
+            "required_z": 0.8611063292008317,
+            "initial_z": 0.7611063292008318,
+            "lift_margin": 0.29997118638016096,
+            "gripper_z": 1.1548399410641128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24264207062510995,
+              0.055878597801454405,
+              1.1548399410641128
+            ],
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+              0.005412900211324817,
+              0.005029093501932036,
+              0.006237574516879896
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+            "object_to_gripper_xy": 0.0073885905387249115,
+            "object_to_gripper_z": 0.006237574516879896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              0.03653305054389821,
+              1.1610775155809927
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+            "finger_b": [
+              0.2368541433880869,
+              0.06090769130338644,
+              1.1610775155809927
+            ],
+            "finger_midpoint": [
+              0.24245455711226083,
+              0.04872037092364233,
+              1.1610775155809927
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+            "object_minus_finger_midpoint": [
+              0.0056004137241739416,
+              0.012187320379744113,
+              0.0
+            ],
+            "finger_gap": 0.026825019062095144,
+            "fingertip_max_gap": 0.09059570281820914,
+            "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": 1.1610775155809927,
+            "object_top_z": 1.2110127805471493,
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+            "fingertip_min_top_clearance": 0.014980579489847023,
+            "object_projection_between_fingers": 0.8256507292371271,
+            "object_to_finger_line_xy": 0.010177668266721849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779785140910457,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29636347097484494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3151336861857412,
+              -0.3378112561250529,
+              0.8515396123641096
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+            "target_position": [
+              0.30583220320658533,
+              -0.339711728755389,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009493649552737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864760990548287,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396123641096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551953061355984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851474484280441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15459834319107882,
+            "release_required_pad_clearance": 0.05257372421402205,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.2130623583125647,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008021414279937744,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518487000748465,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008021414279937744,
+            "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": 0.021294237252437644,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008021414279937744,
+            "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": 0.008021442361973191,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.016815662384033203,
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+            "min_contact_pad_to_button": 0.021294237252437644,
+            "closest_contact_pad": [
+              0.16151370108127594,
+              -0.3988083567397817,
+              0.7899702627347486
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+            "closest_contact_pad_button": [
+              0.16151370108127594,
+              -0.3959760367870331,
+              0.7688652276992798
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00283231995274863,
+              0.02110503503546879
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf69ffe28fc5fccdc494416e18c83c58f77e391e1edf47f6288f0de38c040672",
+    "visual_seed": 8687085540232560753,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44b799c63eaebef38a5480980b3c7131b5a29c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.246610305489135,
+              0.06201956569841054,
+              1.160904638466207
+            ],
+            "current_z": 1.160904638466207,
+            "required_z": 0.8611063292008319,
+            "initial_z": 0.7611063292008319,
+            "lift_margin": 0.2997983092653751,
+            "gripper_z": 1.1546748932737712,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24125666658430278,
+              0.057001228072156254,
+              1.1546748932737712
+            ],
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+              0.005353638904832231,
+              0.005018337626254289,
+              0.006229745192435798
+            ],
+            "object_to_gripper_xy": 0.007337926277526423,
+            "object_to_gripper_z": 0.006229745192435798,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.246610305489135,
+              0.03758776560070591,
+              1.160904638466207
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+            "finger_b": [
+              0.23554606828173622,
+              0.06201956569841054,
+              1.160904638466207
+            ],
+            "finger_midpoint": [
+              0.2410781868854356,
+              0.049803665649558224,
+              1.160904638466207
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055321186036993986,
+              0.01221590004885232,
+              0.0
+            ],
+            "finger_gap": 0.02682033185842017,
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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": 1.210784523948331,
+            "finger_top_clearance": 0.049879885482124076,
+            "fingertip_min_top_clearance": 0.014963965644637221,
+            "object_projection_between_fingers": 0.8298175930718293,
+            "object_to_finger_line_xy": 0.01007889212973653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780535856665087,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41257233873755167,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": [],
+              "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": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3133165003742656,
+              -0.3402892593576008,
+              0.8515396287423052
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+            "target_position": [
+              0.30436793087656583,
+              -0.3418734455734872,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00908771379510642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18743307315266172,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287423052,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535220766551613,
+            "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": 0.15583578156374123,
+            "release_required_pad_clearance": 0.05246185983668443,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007913053035736084,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519909590664298,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007913053035736084,
+            "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": 0.021074818902003023,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007913053035736084,
+            "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": 0.00791307625419205,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.39813491702079773,
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+            "button_final": [
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.14459344848031716,
+            "closest_active_finger": [
+              0.033179059624671936,
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+              0.8109784126281738
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+            "closest_active_finger_button": [
+              0.16006873548030856,
+              -0.39813724160194397,
+              0.776802122592926
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ef1a20515520f955edc135603db22f4e009f530cc43569500d84d3015bf3cfe",
+    "visual_seed": 1990402284800046129,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59148d7755d55cd17eab44b1b211092a5acdd0bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2540356709767144,
+              0.06725006429644972,
+              1.163949849368786
+            ],
+            "current_z": 1.163949849368786,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3028434009586649,
+            "gripper_z": 1.157464619292779,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24889833918638204,
+              0.062160550280037585,
+              1.157464619292779
+            ],
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+              0.005137331790332378,
+              0.005089514016412139,
+              0.006485230076006987
+            ],
+            "object_to_gripper_xy": 0.007231551067870246,
+            "object_to_gripper_z": 0.006485230076006987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2540356709767144,
+              0.04325558804640406,
+              1.163949849368786
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+            "finger_b": [
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+              0.06725006429644972,
+              1.163949849368786
+            ],
+            "finger_midpoint": [
+              0.24827295081151274,
+              0.05525282617142689,
+              1.163949849368786
+            ],
+            "object_minus_finger_midpoint": [
+              0.005762720165201685,
+              0.011997238125022833,
+              0.0
+            ],
+            "finger_gap": 0.026618990689424995,
+            "fingertip_max_gap": 0.0908306422267603,
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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": 1.163949849368786,
+            "object_top_z": 1.2138540055284388,
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+            "fingertip_min_top_clearance": 0.014971246847895813,
+            "object_projection_between_fingers": 0.8125299545825735,
+            "object_to_finger_line_xy": 0.01038908302368682,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791532111338015,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5486198753258086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3146301086270703,
+              -0.34048024066187066,
+              0.8515395709903656
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+            "target_position": [
+              0.30552780863216694,
+              -0.34204460879643367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009235751883720887,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18685998922815758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395709903656,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521349504854438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618457932580069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155598189395993,
+            "release_required_pad_clearance": 0.05309228966290035,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2123904198809503,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008050382137298584,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517076034487419,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
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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": 77,
+            "contact_point_distance": 0.02107078649707754,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008050382137298584,
+            "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": 0.008050387313710846,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "min_active_finger_to_button": 0.1444358600089513,
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+              -0.3983089029788971,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06209367513656616,
+              0.03419250249862671
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+            "min_contact_pad_to_button": 0.02107078649707754,
+            "closest_contact_pad": [
+              0.1612190157175064,
+              -0.39897093756957486,
+              0.7898186843135511
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "962d7a5bad79e54a55f17d950e595f61727e1eaa6718c02b442f6e5c921c13f4",
+    "visual_seed": 7089298855611770466,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a13376611ae9519f417ceb851388b2113e9b1e0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_60_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2527666349079175,
+              0.059873393792942445,
+              1.1634774085521058
+            ],
+            "current_z": 1.1634774085521058,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30237084093269495,
+            "gripper_z": 1.157082022258108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24752469134407581,
+              0.05494260299440354,
+              1.157082022258108
+            ],
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+              0.0052419435638416945,
+              0.004930790798538906,
+              0.006395386293997829
+            ],
+            "object_to_gripper_xy": 0.007196573505874675,
+            "object_to_gripper_z": 0.006395386293997829,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2527666349079175,
+              0.03557146301707486,
+              1.1634774085521058
+            ],
+            "finger_b": [
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+              0.059873393792942445,
+              1.1634774085521058
+            ],
+            "finger_midpoint": [
+              0.24727017392935935,
+              0.04772242840500865,
+              1.1634774085521058
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549646097855816,
+              0.012150965387933796,
+              0.0
+            ],
+            "finger_gap": 0.026672610906889313,
+            "fingertip_max_gap": 0.09092119944977431,
+            "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": 1.1634774085521058,
+            "object_top_z": 1.2134636107473993,
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+            "fingertip_min_top_clearance": 0.014995860658588078,
+            "object_projection_between_fingers": 0.8301383923056401,
+            "object_to_finger_line_xy": 0.010015863439801237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796059972488716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4881274803081993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3190659743577293,
+              -0.34352105828860713,
+              0.8515395667772623
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+            "target_position": [
+              0.31003577888825296,
+              -0.3452526788911995,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009194723493845466,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18728315557456174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395667772623,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538695378594337,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506158328593276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15569106121356757,
+            "release_required_pad_clearance": 0.05253079164296638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122121162079567,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096456527709961,
+            "max_z_decrease": 0.008096456527709961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511788930198352,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096456527709961,
+            "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": 0.021089779423178946,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008096456527709961,
+            "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": 0.008096467897028201,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4015141427516937,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.40150195360183716,
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+            "min_active_finger_to_button": 0.14413742473316943,
+            "closest_active_finger": [
+              0.026686854660511017,
+              -0.3853828012943268,
+              0.810560405254364
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+            "closest_active_finger_button": [
+              0.1657385677099228,
+              -0.4015169143676757,
+              0.776210606098175
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13905171304941177,
+              0.016134113073348944,
+              0.034349799156188965
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0154897169d2adca04d845ae6e7b870743fe6ebc9ef2cbbb9152ecb6a2163962",
+    "visual_seed": 9056871608097022581,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b44067ce67c6229b05a2d8dedcd1b8a77cd2787
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_61_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2529097719447244,
+              0.0682067412510975,
+              1.160456306403102
+            ],
+            "current_z": 1.160456306403102,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.2993497387836913,
+            "gripper_z": 1.1542488885203888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24748603710660683,
+              0.06313452092853569,
+              1.1542488885203888
+            ],
+            "object_minus_gripper": [
+              0.005423734838117589,
+              0.005072220322561813,
+              0.006207417882713173
+            ],
+            "object_to_gripper_xy": 0.007425922070343823,
+            "object_to_gripper_z": 0.006207417882713173,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2529097719447244,
+              0.043711388936419536,
+              1.160456306403102
+            ],
+            "finger_b": [
+              0.2417814219965335,
+              0.0682067412510975,
+              1.160456306403102
+            ],
+            "finger_midpoint": [
+              0.24734559697062897,
+              0.05595906509375852,
+              1.160456306403102
+            ],
+            "object_minus_finger_midpoint": [
+              0.005564174974095448,
+              0.012247676157338988,
+              0.0
+            ],
+            "finger_gap": 0.02690469211103521,
+            "fingertip_max_gap": 0.09083708918097733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013452346055517603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160456306403102,
+            "object_top_z": 1.2104582738396197,
+            "finger_top_clearance": 0.05000196743651775,
+            "fingertip_min_top_clearance": 0.015000590230955324,
+            "object_projection_between_fingers": 0.8289175363759325,
+            "object_to_finger_line_xy": 0.010131796027881635,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047918544590488665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5419939983969636,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30956535417825837,
+              -0.3407627094102811,
+              0.8515396029708467
+            ],
+            "target_position": [
+              0.30137446551871766,
+              -0.34197699342759724,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008280407158328751,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537216376668791,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396029708467,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751637854180696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550193618089251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15424068536989624,
+            "release_required_pad_clearance": 0.05275096809044626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.5524912453686299,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00795656442642212,
+            "max_z_decrease": 0.00795656442642212,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520056298993568,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00795656442642212,
+            "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": 0.021168095331107174,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00795656442642212,
+            "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": 0.007956584971487823,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3982384502887725,
+              0.7768088579177856
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+            "button_final": [
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+              0.7768088579177856
+            ],
+            "closest_ee": [
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+            "min_active_finger_to_button": 0.14409886983415976,
+            "closest_active_finger": [
+              0.01821283996105194,
+              -0.3807447552680969,
+              0.8110369443893433
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+            "closest_active_finger_button": [
+              0.15707966685295105,
+              -0.39823934435844416,
+              0.7767670154571533
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+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f38a8bb4c26a55059ffa0a604eff153bc7e32f26c7756d91eb75a5e48f16d57",
+    "visual_seed": 4511503315732259141,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56171b44cba61645b84897425db4f0d5428a183
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24689265881614794,
+              0.060574700045000006,
+              1.1635211722079295
+            ],
+            "current_z": 1.1635211722079295,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30241442577458444,
+            "gripper_z": 1.156822197933872,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24185709927262883,
+              0.05551773734056824,
+              1.156822197933872
+            ],
+            "object_minus_gripper": [
+              0.005035559543519114,
+              0.005056962704431768,
+              0.006698974274057523
+            ],
+            "object_to_gripper_xy": 0.007136506968422317,
+            "object_to_gripper_z": 0.006698974274057523,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24689265881614794,
+              0.03668373188183803,
+              1.1635211722079295
+            ],
+            "finger_b": [
+              0.23536314549975768,
+              0.060574700045000006,
+              1.1635211722079295
+            ],
+            "finger_midpoint": [
+              0.24112790215795282,
+              0.048629215963419015,
+              1.1635211722079295
+            ],
+            "object_minus_finger_midpoint": [
+              0.005764756658195119,
+              0.011945484081580991,
+              0.0
+            ],
+            "finger_gap": 0.026527495869117377,
+            "fingertip_max_gap": 0.0906374276118084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013263747934558687,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635211722079295,
+            "object_top_z": 1.2134944441403983,
+            "finger_top_clearance": 0.04997327193246881,
+            "fingertip_min_top_clearance": 0.014991981579740642,
+            "object_projection_between_fingers": 0.8111010954724002,
+            "object_to_finger_line_xy": 0.010383612420021341,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478187138059042,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3600069798756473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3183890464467509,
+              -0.3393283933302531,
+              0.8515395922474837
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+            "target_position": [
+              0.30950088923613367,
+              -0.3412027884709635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009083649913122275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18511224393432119,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395922474837,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755721867776632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540525586331192,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15308221411704043,
+            "release_required_pad_clearance": 0.05270262793165596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45970036572909734,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008054494857788086,
+            "max_z_decrease": 0.008054494857788086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516450283486667,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008054494857788086,
+            "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": 0.020974387274683592,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008054494857788086,
+            "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": 0.00805449991560717,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16520081460475922,
+              -0.397464245557785,
+              0.7768088579177856
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a09e46927ba11f8de9bda550ff433a4b38d1ae7eec7a635f7f8e69a8861acb56",
+    "visual_seed": 1195151439312075058,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee623ff231eac868d02a434d0e9463e0dca186f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_63_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25636899951814385,
+              0.059749349022115456,
+              1.16187850797002
+            ],
+            "current_z": 1.16187850797002,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30077182114131973,
+            "gripper_z": 1.1552784404825347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25119767451295405,
+              0.054820557716839954,
+              1.1552784404825347
+            ],
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+              0.005171325005189797,
+              0.004928791305275501,
+              0.006600067487485317
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+            "object_to_gripper_xy": 0.00714391951524236,
+            "object_to_gripper_z": 0.006600067487485317,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25636899951814385,
+              0.035534426589142735,
+              1.16187850797002
+            ],
+            "finger_b": [
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+              0.059749349022115456,
+              1.16187850797002
+            ],
+            "finger_midpoint": [
+              0.25084763812745003,
+              0.0476418878056291,
+              1.16187850797002
+            ],
+            "object_minus_finger_midpoint": [
+              0.005521361390693813,
+              0.012107461216486357,
+              0.0
+            ],
+            "finger_gap": 0.026613984948922278,
+            "fingertip_max_gap": 0.09107092857509397,
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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": 1.16187850797002,
+            "object_top_z": 1.2118760427644903,
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+            "object_projection_between_fingers": 0.8278398923637227,
+            "object_to_finger_line_xy": 0.010047299422214068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048035464287546986,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7043231433263849,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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": []
+          }
+        },
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3144741638139329,
+              -0.3399238632560475,
+              0.8515395926941087
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+            "target_position": [
+              0.3058535498563802,
+              -0.3414431906545617,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008753475923827537,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531303195751006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395926941087,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539150200181294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504858325313079,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363837198462008,
+            "release_required_pad_clearance": 0.0525242916265654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.11869400957481242,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008056402206420898,
+            "max_z_decrease": 0.008056402206420898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516363654798838,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008056402206420898,
+            "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": 0.021139785800666125,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008056402206420898,
+            "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": 0.00805640990781907,
+            "max_button_displacement": 0.12,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57a021537ebdad721a655d4c8ab01fa33641f5633cd50cb47399c06ffa122dc6",
+    "visual_seed": 8183663912244175103,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ccbb8f17a653fc5a40f776c030ddaa102cb57e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_64_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25082419616875357,
+              0.06639034969056508,
+              1.161513439941094
+            ],
+            "current_z": 1.161513439941094,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30040693192632817,
+            "gripper_z": 1.1549229760600583,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24582939396470632,
+              0.06135013379482501,
+              1.1549229760600583
+            ],
+            "object_minus_gripper": [
+              0.004994802204047244,
+              0.005040215895740066,
+              0.00659046388103568
+            ],
+            "object_to_gripper_xy": 0.0070959020098382165,
+            "object_to_gripper_z": 0.00659046388103568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25082419616875357,
+              0.0424741676007971,
+              1.161513439941094
+            ],
+            "finger_b": [
+              0.23939446944015172,
+              0.06639034969056508,
+              1.161513439941094
+            ],
+            "finger_midpoint": [
+              0.24510933280445263,
+              0.05443225864568109,
+              1.161513439941094
+            ],
+            "object_minus_finger_midpoint": [
+              0.005714863364300937,
+              0.01195809104488399,
+              0.0
+            ],
+            "finger_gap": 0.02650702583922712,
+            "fingertip_max_gap": 0.09075803877036082,
+            "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": 1.211478280402233,
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+            "fingertip_min_top_clearance": 0.014989452138341741,
+            "object_projection_between_fingers": 0.8140699049911843,
+            "object_to_finger_line_xy": 0.010312564952986839,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787901938518041,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4115765270881008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": [
+                {
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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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.314124152813792,
+              -0.3426386033001578,
+              0.8515395836008053
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+            "target_position": [
+              0.3052350620379846,
+              -0.3444414993870537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009070080987548513,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18581473643628238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395836008053,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539000665250384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606438222630207,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15418301627862482,
+            "release_required_pad_clearance": 0.053032191113151037,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.0957387342275482,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809168815612793,
+            "max_z_decrease": 0.00809168815612793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521916499186629,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809168815612793,
+            "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": 0.021020970344949874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00809168815612793,
+            "contact_point_contacted_z_ok": true,
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+              0.21088201012208402,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04797739539663763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16779838066468397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312829371592813,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673152667572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13740707462038648,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "094c021cc128ec5f7e478a6c4cf90bda84fdb50a20508c12cc3714e02b63dab7",
+    "visual_seed": 8996552514570718095,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0eae4bd73aeeee56c867abea056cf3cc4b0647d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_65_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 65,
+  "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": [
+              0.253032867541461,
+              0.05869703753056168,
+              1.1616342603276517
+            ],
+            "current_z": 1.1616342603276517,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3005275734989513,
+            "gripper_z": 1.1552356665987136,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2476404999426922,
+              0.053693386170900276,
+              1.1552356665987136
+            ],
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+              0.005392367598768794,
+              0.005003651359661403,
+              0.00639859372893814
+            ],
+            "object_to_gripper_xy": 0.007356232408597007,
+            "object_to_gripper_z": 0.00639859372893814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.253032867541461,
+              0.03419450044995481,
+              1.1616342603276517
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+            "finger_b": [
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+              0.05869703753056168,
+              1.1616342603276517
+            ],
+            "finger_midpoint": [
+              0.24754022811806914,
+              0.04644576899025825,
+              1.1616342603276517
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492639423391843,
+              0.01225126854030343,
+              0.0
+            ],
+            "finger_gap": 0.026852386760362792,
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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": 1.1616342603276517,
+            "object_top_z": 1.2115926871943736,
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+            "fingertip_min_top_clearance": 0.014987528060016575,
+            "object_projection_between_fingers": 0.832638182625518,
+            "object_to_finger_line_xy": 0.010023958193595089,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790582120498507,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5594072681446003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31818562364501213,
+              -0.3456674301014369,
+              0.8515395567248916
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+            "target_position": [
+              0.31025703388333753,
+              -0.3471985941635137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008075085076575148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823309223344537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395567248916,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571266259524276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08697386034758385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500421601283109,
+            "release_required_pad_clearance": 0.05348693017379193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9865501768279428,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
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+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26927510058155757,
+              0.16275548685050356,
+              0.8305804472084336
+            ],
+            "target_position": [
+              0.2814943438757482,
+              0.20908956736322493,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04791823164143234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16582502632347637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8305804472084336,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674606204238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13630732627803438,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e47626d1e4e1dca528968346a78a98192c6ab6d5da71a9e7ef1e2ad27ce482e9",
+    "visual_seed": 3958336651346270184,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82ea8ba136c7534504344091f2796f4990ad5fa1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_66_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2514071378511119,
+              0.06499605862929558,
+              1.1608452446991275
+            ],
+            "current_z": 1.1608452446991275,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.29973849826578247,
+            "gripper_z": 1.1544865725198914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24611470202391025,
+              0.059968158232374544,
+              1.1544865725198914
+            ],
+            "object_minus_gripper": [
+              0.0052924358272016525,
+              0.0050279003969210395,
+              0.006358672179236136
+            ],
+            "object_to_gripper_xy": 0.0072999766702645285,
+            "object_to_gripper_z": 0.006358672179236136,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2514071378511119,
+              0.04076797798299346,
+              1.1608452446991275
+            ],
+            "finger_b": [
+              0.24013200150978864,
+              0.06499605862929558,
+              1.1608452446991275
+            ],
+            "finger_midpoint": [
+              0.24576956968045027,
+              0.05288201830614452,
+              1.1608452446991275
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637568170661633,
+              0.012114040323151061,
+              0.0
+            ],
+            "finger_gap": 0.026723184528030113,
+            "fingertip_max_gap": 0.09073620498577886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013361592264015057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608452446991275,
+            "object_top_z": 1.2108198676442041,
+            "finger_top_clearance": 0.0499746229450766,
+            "fingertip_min_top_clearance": 0.014992386883522979,
+            "object_projection_between_fingers": 0.8219806613811741,
+            "object_to_finger_line_xy": 0.010222393678010092,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786810249288943,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36712897552846513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.315735250381324,
+              -0.3382813616784668,
+              0.8515395964736696
+            ],
+            "target_position": [
+              0.3064311029204566,
+              -0.34002440773806963,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009466011279280309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18761402079671957,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395964736696,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517720948220734,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591109843175158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15652333611449837,
+            "release_required_pad_clearance": 0.052955549215875794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9470790364240168,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+            1.0433713849774282
+          ],
+          "object_origin_world": [
+            0.31707145536492837,
+            -0.3384112776850004,
+            1.0433713849774282
+          ],
+          "frame_world": [
+            0.3170696806860196,
+            -0.33841805291604693,
+            1.0432418670099681
+          ],
+          "center_minus_frame": [
+            1.7746789087724757e-06,
+            6.775231046529662e-06,
+            0.00012951796746007993
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.276593577491248,
+              0.157569069938645,
+              0.8311250625960971
+            ],
+            "target_position": [
+              0.2874476415376168,
+              0.20389510148658146,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047580583280400005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1660453235559499,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311250625960971,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666132972118,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13601097918613514,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74b151f3960b66bf49825c251d92d9e6a2261d3a3cc0e4e7f69920b0cb38cba9",
+    "visual_seed": 8087499245346168687,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcfb8d28c02603d23b0d7c6997b95c1e777f247a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_67_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25342699095335125,
+              0.06005273019186898,
+              1.160962985942914
+            ],
+            "current_z": 1.160962985942914,
+            "required_z": 0.8611063888054766,
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+            "lift_margin": 0.2998565971374374,
+            "gripper_z": 1.1543031087485647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24842569875057866,
+              0.055054130280127525,
+              1.1543031087485647
+            ],
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+              0.005001292202772595,
+              0.004998599911741453,
+              0.006659877194349351
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+            "object_to_gripper_xy": 0.007070991781580262,
+            "object_to_gripper_z": 0.006659877194349351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25342699095335125,
+              0.03622091244692252,
+              1.160962985942914
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+            "finger_b": [
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+              0.06005273019186898,
+              1.160962985942914
+            ],
+            "finger_midpoint": [
+              0.24769348253797818,
+              0.04813682131939575,
+              1.160962985942914
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011915908872473228,
+              0.0
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+            "finger_gap": 0.026447079461160913,
+            "fingertip_max_gap": 0.09084045763476087,
+            "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": 1.160962985942914,
+            "object_top_z": 1.210816028086965,
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+            "object_projection_between_fingers": 0.8120053631778393,
+            "object_to_finger_line_xy": 0.010333082546596574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047920228817380436,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.58564603033513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3192571744891368,
+              -0.34076593350365536,
+              0.851539560427568
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+            "target_position": [
+              0.3099373267513387,
+              -0.34255979611105175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009490916968868456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18495777483344183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560427568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522326407553762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678570747453311,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15379677621226992,
+            "release_required_pad_clearance": 0.05339285373726656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.800972258584787,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+            1.0433226083384468
+          ],
+          "object_origin_world": [
+            0.3169901978741796,
+            -0.3426954169487646,
+            1.0433226083384468
+          ],
+          "frame_world": [
+            0.3169883808278927,
+            -0.3427026230565092,
+            1.0431923969873997
+          ],
+          "center_minus_frame": [
+            1.8170462868782877e-06,
+            7.206107744628376e-06,
+            0.0001302113510470715
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2775021184740103,
+              0.15425919680039105,
+              0.8320265040823241
+            ],
+            "target_position": [
+              0.28593550727773565,
+              0.2016820575082221,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04816689490126125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16821505443445936,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320265040823241,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672116315711,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376726219706098,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "713f600e3db2db4bc98bff5bdb933623456c67854deef3522ffef2e008f95640",
+    "visual_seed": 7039183656268722708,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc7c3e8c7e0648d6965a15f3588ae3f02a79a70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24767341215785882,
+              0.06033034843436479,
+              1.1620241518851477
+            ],
+            "current_z": 1.1620241518851477,
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+            "lift_margin": 0.30091788228896077,
+            "gripper_z": 1.1554936579009396,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24251789156983442,
+              0.05534057198546477,
+              1.1554936579009396
+            ],
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+              0.005155520588024404,
+              0.004989776448900023,
+              0.00653049398420813
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+            "object_to_gripper_z": 0.00653049398420813,
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+              0.24767341215785882,
+              0.03631020208773094,
+              1.1620241518851477
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+            "finger_b": [
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+              0.06033034843436479,
+              1.1620241518851477
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+              0.24200053052814519,
+              0.04832027526104787,
+              1.1620241518851477
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+            "object_minus_finger_midpoint": [
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+              0.012010073173316926,
+              0.0
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+            "fingertip_max_gap": 0.09042875397789474,
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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": 0.010258910083111476,
+            "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": 0.38445143141998506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31745385402724824,
+              -0.3401027087899324,
+              0.8515396078915125
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+            "target_position": [
+              0.3084418170693674,
+              -0.34169622559235574,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009151836205364233,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530663057839605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396078915125,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551370654747216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534252591034629,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15331824454565093,
+            "release_required_pad_clearance": 0.052671262955173145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3995838981688436,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3148707559647906,
+            -0.3406042570788184,
+            1.0433399323236485
+          ],
+          "object_origin_world": [
+            0.3148707559647906,
+            -0.3406042570788184,
+            1.0433399323236485
+          ],
+          "frame_world": [
+            0.3148689748582296,
+            -0.3406114021073344,
+            1.043211547309008
+          ],
+          "center_minus_frame": [
+            1.7811065609607546e-06,
+            7.1450285160090665e-06,
+            0.00012838501464051966
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2689104425761095,
+              0.15628184805840414,
+              0.832064888198319
+            ],
+            "target_position": [
+              0.2797728088261807,
+              0.20211813497516323,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04710579793259155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677984251883561,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832064888198319,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567212360719,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1378704026258139,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "828b3e14ce33ab4789f5ead4a8e79557511189ef8bea6df01bd18ed3565e574f",
+    "visual_seed": 3426841906531412250,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec730577082b9ef4d32a2f24ec53fbc5577ae209
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25523503979243545,
+              0.06497853627474987,
+              1.1614024124289712
+            ],
+            "current_z": 1.1614024124289712,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3002959044142054,
+            "gripper_z": 1.1549605681014117,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24996880380219388,
+              0.0600499551552274,
+              1.1549605681014117
+            ],
+            "object_minus_gripper": [
+              0.005266235990241563,
+              0.004928581119522463,
+              0.006441844327559565
+            ],
+            "object_to_gripper_xy": 0.007212777090457519,
+            "object_to_gripper_z": 0.006441844327559565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25523503979243545,
+              0.040615136245166494,
+              1.1614024124289712
+            ],
+            "finger_b": [
+              0.24429986618209396,
+              0.06497853627474987,
+              1.1614024124289712
+            ],
+            "finger_midpoint": [
+              0.24976745298726472,
+              0.05279683625995818,
+              1.1614024124289712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005467586805170732,
+              0.012181700014791685,
+              0.0
+            ],
+            "finger_gap": 0.026704929936058847,
+            "fingertip_max_gap": 0.09085378461220511,
+            "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": 1.1614024124289712,
+            "object_top_z": 1.2114012440011708,
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+            "fingertip_min_top_clearance": 0.014999649471659859,
+            "object_projection_between_fingers": 0.8323249366478978,
+            "object_to_finger_line_xy": 0.009976360533414351,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792689230610256,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4950889929632735,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3174767985310043,
+              -0.3468937304190871,
+              0.8515396344902207
+            ],
+            "target_position": [
+              0.30871681837317444,
+              -0.34857315601855643,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008919513591543306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858699417449787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396344902207,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523862337681522,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560612334007488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15470840402022018,
+            "release_required_pad_clearance": 0.05280306167003744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6525183061673783,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31733038546010844,
+            -0.3483534697020519,
+            1.0435052387265022
+          ],
+          "object_origin_world": [
+            0.31733038546010844,
+            -0.3483534697020519,
+            1.0435052387265022
+          ],
+          "frame_world": [
+            0.31732877284754646,
+            -0.348361209707803,
+            1.0433734998508533
+          ],
+          "center_minus_frame": [
+            1.6126125619853049e-06,
+            7.74000575110012e-06,
+            0.00013173887564899012
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27643778009160364,
+              0.15689020291834288,
+              0.8312758054875652
+            ],
+            "target_position": [
+              0.28688082007329235,
+              0.20302134577256664,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0472984082723293,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16939955772288454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312758054875652,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672169810571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13946826137970308,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edd52243ba3006cc303991c10947c891a4abb8937d3e537111ccc2aa6ede9f97",
+    "visual_seed": 1318748397084431694,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99fad8cf3d90487e07942e20e107e2cc1c2fa00d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25202108442668164,
+              0.05888510285918879,
+              1.1627974909103198
+            ],
+            "current_z": 1.1627974909103198,
+            "required_z": 0.8611064484101212,
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+            "lift_margin": 0.3016910425001986,
+            "gripper_z": 1.1562921012457914,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24674495036048852,
+              0.05390391741272274,
+              1.1562921012457914
+            ],
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+              0.005276134066193122,
+              0.004981185446466051,
+              0.006505389664528405
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+            "object_to_gripper_xy": 0.00725601813231808,
+            "object_to_gripper_z": 0.006505389664528405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25202108442668164,
+              0.034697000386017376,
+              1.1627974909103198
+            ],
+            "finger_b": [
+              0.24077963017448964,
+              0.05888510285918879,
+              1.1627974909103198
+            ],
+            "finger_midpoint": [
+              0.24640035730058563,
+              0.04679105162260308,
+              1.1627974909103198
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056207271260960145,
+              0.01209405123658571,
+              0.0
+            ],
+            "finger_gap": 0.026672731299152076,
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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": 1.2126710926180047,
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+            "object_projection_between_fingers": 0.8223725770437056,
+            "object_to_finger_line_xy": 0.010194285855087247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777152642576392,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25771269024154697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31799833738902233,
+              -0.3401606907512909,
+              0.851539559583409
+            ],
+            "target_position": [
+              0.30862138076093754,
+              -0.34198069049470325,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009551948213375345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851775202310165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539559583409,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531590849847769,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580725746465732,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15394081622890518,
+            "release_required_pad_clearance": 0.052903628732328664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8467230931216656,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3178710323690678,
+            -0.33917575263889893,
+            1.0433312452427799
+          ],
+          "object_origin_world": [
+            0.3178710323690678,
+            -0.33917575263889893,
+            1.0433312452427799
+          ],
+          "frame_world": [
+            0.31786926260506954,
+            -0.33918290998885936,
+            1.0432017478732931
+          ],
+          "center_minus_frame": [
+            1.7697639982383606e-06,
+            7.157349960429382e-06,
+            0.00012949736948675294
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27715106173842846,
+              0.15670847107055064,
+              0.8321143809147874
+            ],
+            "target_position": [
+              0.2854548301495767,
+              0.20382671596199914,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04784434733044747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17076701791533108,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321143809147874,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673939259939,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1396236932274388,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3861bc2b50ebf287c857fb7fbced9a11a9505ef14c52be4828a0130833a96651",
+    "visual_seed": 3751311310723479754,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd376abb5d197bf408c4ff66b65b84d24f46a2a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_71_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 71,
+  "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": [
+              0.25048565889254426,
+              0.06196214838264821,
+              1.1617317024510907
+            ],
+            "current_z": 1.1617317024510907,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3006250156223903,
+            "gripper_z": 1.155366822396349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24519269492808576,
+              0.05704031712578224,
+              1.155366822396349
+            ],
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+              0.005292963964458497,
+              0.0049218312568659744,
+              0.006364880054741784
+            ],
+            "object_to_gripper_xy": 0.0072277168213841295,
+            "object_to_gripper_z": 0.006364880054741784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25048565889254426,
+              0.037627675785394776,
+              1.1617317024510907
+            ],
+            "finger_b": [
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+              0.06196214838264821,
+              1.1617317024510907
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+            "finger_midpoint": [
+              0.24499456898493255,
+              0.049794912084021495,
+              1.1617317024510907
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054910899076117126,
+              0.012167236298626719,
+              0.0
+            ],
+            "finger_gap": 0.026697843172817908,
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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": 1.1617317024510907,
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+            "object_projection_between_fingers": 0.8307904987605967,
+            "object_to_finger_line_xy": 0.010010005379152052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776933694578178,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2984552674416748,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31297916305724904,
+              -0.33772407352514816,
+              0.8515395724725829
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+            "target_position": [
+              0.3030571195485709,
+              -0.3395240026209619,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010083981958435812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18791905428743355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395724725829,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531989070491775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496533403875949,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15644117612336933,
+            "release_required_pad_clearance": 0.052482667019379745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467830044917,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31218433599318446,
+            -0.33816465306085947,
+            1.0435605618202175
+          ],
+          "object_origin_world": [
+            0.31218433599318446,
+            -0.33816465306085947,
+            1.0435605618202175
+          ],
+          "frame_world": [
+            0.3121825512586498,
+            -0.33817133389876775,
+            1.0434334603776785
+          ],
+          "center_minus_frame": [
+            1.784734534659993e-06,
+            6.680837908279447e-06,
+            0.00012710144253902378
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26683890895456736,
+              0.15581487284011,
+              0.8311352156526612
+            ],
+            "target_position": [
+              0.27894911774808456,
+              0.20208664446575936,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047830262453794146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1661351025678066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311352156526612,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674288412568,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1367088859142428,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "207b32d8ada2fbe13495c1dc769aa39f7f9a5b41b893e83e179a42f0c2a65e84",
+    "visual_seed": 994136568549513330,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15cf3be4ed5ce9355d43bc41edb9d59faf5f3ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_72_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24659020490671005,
+              0.05999051412974521,
+              1.1629947117106567
+            ],
+            "current_z": 1.1629947117106567,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.3018879056726669,
+            "gripper_z": 1.156561261729927,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2414492245809111,
+              0.055110078887629116,
+              1.156561261729927
+            ],
+            "object_minus_gripper": [
+              0.005140980325798961,
+              0.0048804352421160935,
+              0.0064334499807297
+            ],
+            "object_to_gripper_xy": 0.007088605424393487,
+            "object_to_gripper_z": 0.0064334499807297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24659020490671005,
+              0.035844831414516005,
+              1.1629947117106567
+            ],
+            "finger_b": [
+              0.2355624382138345,
+              0.05999051412974521,
+              1.1629947117106567
+            ],
+            "finger_midpoint": [
+              0.24107632156027226,
+              0.047917672772130604,
+              1.1629947117106567
+            ],
+            "object_minus_finger_midpoint": [
+              0.005513883346437792,
+              0.012072841357614605,
+              0.0
+            ],
+            "finger_gap": 0.026544785401600327,
+            "fingertip_max_gap": 0.09056749738811193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013272392700800172,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629947117106567,
+            "object_top_z": 1.2128295475833444,
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+            "fingertip_min_top_clearance": 0.0149504507618063,
+            "object_projection_between_fingers": 0.8274095736705204,
+            "object_to_finger_line_xy": 0.010031083378345663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047783748694055966,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3432305715318548,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31138982106371604,
+              -0.34226773478973826,
+              0.8515396086761235
+            ],
+            "target_position": [
+              0.30173226812699533,
+              -0.34417727511973245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00984452502650266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18712961859450575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396086761235,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569292972196207,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564820399964067,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15489185940236203,
+            "release_required_pad_clearance": 0.052824101999820336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6932302836665531,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31007567594772706,
+            -0.3442042088297816,
+            1.0432984028232848
+          ],
+          "object_origin_world": [
+            0.31007567594772706,
+            -0.3442042088297816,
+            1.0432984028232848
+          ],
+          "frame_world": [
+            0.3101004415812529,
+            -0.3442009632627814,
+            1.0435928676101536
+          ],
+          "center_minus_frame": [
+            -2.476563352582506e-05,
+            -3.245567000209615e-06,
+            -0.00029446478686878663
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2752150711573347,
+              0.15752947476321255,
+              0.8334178044985842
+            ],
+            "target_position": [
+              0.28274578204686723,
+              0.20530742671428076,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04836780229801956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16951132912181516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334178044985842,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667996281551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13813982838176622,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6b12dee959bcbe8a25df10ef63fe5d8c3ce7ce96a242d4546f3fa0f85734602",
+    "visual_seed": 6883330485688167566,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6deabbc0f0cd61d854328208ceeaf25a2a58c31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_73_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25599599402026796,
+              0.06288597992168359,
+              1.1639345392020886
+            ],
+            "current_z": 1.1639345392020886,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3028280907919674,
+            "gripper_z": 1.1576084981829273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2506746360309652,
+              0.05778172155952449,
+              1.1576084981829273
+            ],
+            "object_minus_gripper": [
+              0.005321357989302777,
+              0.005104258362159095,
+              0.006326041019161233
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+            "object_to_gripper_xy": 0.007373622195229936,
+            "object_to_gripper_z": 0.006326041019161233,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25599599402026796,
+              0.03878820320879908,
+              1.1639345392020886
+            ],
+            "finger_b": [
+              0.2444175464955317,
+              0.06288597992168359,
+              1.1639345392020886
+            ],
+            "finger_midpoint": [
+              0.25020677025789984,
+              0.050837091565241334,
+              1.1639345392020886
+            ],
+            "object_minus_finger_midpoint": [
+              0.005789223762368123,
+              0.012048888356442251,
+              0.0
+            ],
+            "finger_gap": 0.026735057314079384,
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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": 1.1639345392020886,
+            "object_top_z": 1.213831096764837,
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+            "object_projection_between_fingers": 0.8124407771970042,
+            "object_to_finger_line_xy": 0.010436291190818132,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047819711219602545,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.37153898657496764,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3180428631473392,
+              -0.34572320414838853,
+              0.851539560876313
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+            "target_position": [
+              0.3086440571264072,
+              -0.3475305981658314,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009571009756206296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185629938061102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560876313,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515539176569373,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578789913343397,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15479428217062965,
+            "release_required_pad_clearance": 0.05289394956671699,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8280292489150475,
+            "object_max_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": {
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31870835888371696,
+            -0.344769216229714,
+            1.0434093460998068
+          ],
+          "object_origin_world": [
+            0.31870835888371696,
+            -0.344769216229714,
+            1.0434093460998068
+          ],
+          "frame_world": [
+            0.31873286690395175,
+            -0.3447656716887476,
+            1.0437002142980467
+          ],
+          "center_minus_frame": [
+            -2.4508020234792482e-05,
+            -3.5445409664047745e-06,
+            -0.00029086819823986865
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26936206017791486,
+              0.16246272548084367,
+              0.831085189686851
+            ],
+            "target_position": [
+              0.28135395068461094,
+              0.20820245674923676,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04728560515029288,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16633811000352186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831085189686851,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672995329391,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1367570973480084,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc28b031b28f58275fd9053e05a112eb854a680e52683ff3019b9bc58795568c",
+    "visual_seed": 6442666655964004243,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe1337ac8f07e335beca329a4c1f9d621a51ded8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25571698969099965,
+              0.06849768819963792,
+              1.1638273133202213
+            ],
+            "current_z": 1.1638273133202213,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.302720626491521,
+            "gripper_z": 1.1574097374742467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25050121618623056,
+              0.06348874575677305,
+              1.1574097374742467
+            ],
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+              0.0052157735047690945,
+              0.005008942442864872,
+              0.006417575845974577
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+            "object_to_gripper_xy": 0.007231445059528862,
+            "object_to_gripper_z": 0.006417575845974577,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25571698969099965,
+              0.04440481026736605,
+              1.1638273133202213
+            ],
+            "finger_b": [
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+              0.06849768819963792,
+              1.1638273133202213
+            ],
+            "finger_midpoint": [
+              0.25003930570950506,
+              0.056451249233501984,
+              1.1638273133202213
+            ],
+            "object_minus_finger_midpoint": [
+              0.005677683981494597,
+              0.012046438966135935,
+              0.0
+            ],
+            "finger_gap": 0.026634773297969597,
+            "fingertip_max_gap": 0.09079845166817338,
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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": 1.1638273133202213,
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+            "object_projection_between_fingers": 0.8182374468978583,
+            "object_to_finger_line_xy": 0.010271665958920886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789922583408669,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49294838637468746,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31959951974916123,
+              -0.343799466644246,
+              0.8515395778996615
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+            "target_position": [
+              0.3104155455397988,
+              -0.3455686356994398,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009352825317736351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18534834683262918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778996615,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518904153711924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574985490694696,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15433015477023698,
+            "release_required_pad_clearance": 0.05287492745347348,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.791295209042925,
+            "object_max_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": [],
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3193327655698015,
+            -0.3450485507346835,
+            1.043402172816118
+          ],
+          "object_origin_world": [
+            0.3193327655698015,
+            -0.3450485507346835,
+            1.043402172816118
+          ],
+          "frame_world": [
+            0.31935725992277164,
+            -0.3450449395924208,
+            1.043693189293924
+          ],
+          "center_minus_frame": [
+            -2.4494352970139133e-05,
+            -3.6111422627160827e-06,
+            -0.0002910164778060498
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26958983196613245,
+              0.16425254388550675,
+              0.8305826425053662
+            ],
+            "target_position": [
+              0.28152373376375844,
+              0.21080156849020354,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805444520295753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16724005048087448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8305826425053662,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671648195809,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13730601515758065,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d63d094ea3ec8e306c9031b6842d87ad6001abbb7c2ed72d97f1ea7b35ad4a20",
+    "visual_seed": 6875741161499971550,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d82e08332801380643371a588b9b8096facb61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24752414708429196,
+              0.0641071054104216,
+              1.1626906748288799
+            ],
+            "current_z": 1.1626906748288799,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30158428602340326,
+            "gripper_z": 1.1561467640081984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24254153209087095,
+              0.059096784790410986,
+              1.1561467640081984
+            ],
+            "object_minus_gripper": [
+              0.0049826149934210084,
+              0.005010320620010611,
+              0.006543910820681509
+            ],
+            "object_to_gripper_xy": 0.007066099694171273,
+            "object_to_gripper_z": 0.006543910820681509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24752414708429196,
+              0.040174425901426516,
+              1.1626906748288799
+            ],
+            "finger_b": [
+              0.2361670072886819,
+              0.0641071054104216,
+              1.1626906748288799
+            ],
+            "finger_midpoint": [
+              0.24184557718648692,
+              0.05214076565592406,
+              1.1626906748288799
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678569897805047,
+              0.01196633975449754,
+              0.0
+            ],
+            "finger_gap": 0.02649071106666076,
+            "fingertip_max_gap": 0.09063141799636046,
+            "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": 1.1626906748288799,
+            "object_top_z": 1.2126548029921345,
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+            "fingertip_min_top_clearance": 0.014989238448976372,
+            "object_projection_between_fingers": 0.8161977973978067,
+            "object_to_finger_line_xy": 0.010260456436341783,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781570899818023,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3185207515502921,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31067086159719004,
+              -0.34431703992566864,
+              0.8515395000301059
+            ],
+            "target_position": [
+              0.30177020629282847,
+              -0.3458597018270282,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009033353230609662,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18798788225663315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395000301059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554781524861086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552356850846603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559003648138335,
+            "release_required_pad_clearance": 0.052761784254233016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.30810368810711036,
+            -0.34645007993050797,
+            1.0433458602308503
+          ],
+          "object_origin_world": [
+            0.30810368810711036,
+            -0.34645007993050797,
+            1.0433458602308503
+          ],
+          "frame_world": [
+            0.3081282054925202,
+            -0.3464468490523528,
+            1.043639295659694
+          ],
+          "center_minus_frame": [
+            -2.451738540981685e-05,
+            -3.2308781551804167e-06,
+            -0.00029343542884374685
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2741202920069268,
+              0.1571519948734332,
+              0.8323652127363638
+            ],
+            "target_position": [
+              0.2835462083008555,
+              0.20360982145811996,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0474044043201998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1697141560898288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323652127363638,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672448642104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13851694102107476,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76922bda8840955526495aedb50db30fdfa3b8eb62f5df72980ed7fa06655006",
+    "visual_seed": 4415323746632838144,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe07646c9fe2f18107afe63c5e2f3de526247c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_76_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25554960640374846,
+              0.06803936303099048,
+              1.1612471415209238
+            ],
+            "current_z": 1.1612471415209238,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3001407527154475,
+            "gripper_z": 1.1547908456795355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25019663171633766,
+              0.0630188970752652,
+              1.1547908456795355
+            ],
+            "object_minus_gripper": [
+              0.005352974687410805,
+              0.005020465955725278,
+              0.006456295841388293
+            ],
+            "object_to_gripper_xy": 0.007338897493265412,
+            "object_to_gripper_z": 0.006456295841388293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25554960640374846,
+              0.043601576876342016,
+              1.1612471415209238
+            ],
+            "finger_b": [
+              0.2444881777383089,
+              0.06803936303099048,
+              1.1612471415209238
+            ],
+            "finger_midpoint": [
+              0.2500188920710287,
+              0.05582046995366625,
+              1.1612471415209238
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530714332719788,
+              0.012218893077324232,
+              0.0
+            ],
+            "finger_gap": 0.02682462667514567,
+            "fingertip_max_gap": 0.09081241513666888,
+            "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": 1.1612471415209238,
+            "object_top_z": 1.2111998854044543,
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+            "object_projection_between_fingers": 0.8299584430325889,
+            "object_to_finger_line_xy": 0.01007718882967243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790620756833444,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5493496346403858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3173329420418035,
+              -0.34578880890770536,
+              0.8515395631066037
+            ],
+            "target_position": [
+              0.3088717579471079,
+              -0.3474062215527483,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008614386800502666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853535842040432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395631066037,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755593055719989,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591356321397318,
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+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3178290709680878,
+            -0.34574953932295716,
+            1.043296004051805
+          ],
+          "object_origin_world": [
+            0.3178290709680878,
+            -0.34574953932295716,
+            1.043296004051805
+          ],
+          "frame_world": [
+            0.31782746415992746,
+            -0.3457570081883383,
+            1.0431649271279704
+          ],
+          "center_minus_frame": [
+            1.6068081603592965e-06,
+            7.46886538116609e-06,
+            0.00013107692383451663
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27249457631238955,
+              0.15426294208899904,
+              0.8334651187878496
+            ],
+            "target_position": [
+              0.27886094671913714,
+              0.20152048614765228,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04768444340255492,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691865673801104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334651187878496,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671080022861,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13758499321763634,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40ca63f75b7b227ad29657d51e513198251a65b32fad99d20643326ed3b86462",
+    "visual_seed": 2857652844347746335,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef996b7b4fad3950cb774dcf30cdb9f9faa9013e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_77_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25513667442804766,
+              0.06746667660979652,
+              1.1634639969925213
+            ],
+            "current_z": 1.1634639969925213,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3023572505591764,
+            "gripper_z": 1.1572150210359302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24970276785906556,
+              0.06244720860187071,
+              1.1572150210359302
+            ],
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+              0.0054339065689821,
+              0.005019468007925812,
+              0.00624897595659113
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+            "object_to_gripper_xy": 0.007397459001780107,
+            "object_to_gripper_z": 0.00624897595659113,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25513667442804766,
+              0.04293079299231032,
+              1.1634639969925213
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+            "finger_b": [
+              0.2441372743164924,
+              0.06746667660979652,
+              1.1634639969925213
+            ],
+            "finger_midpoint": [
+              0.24963697437227003,
+              0.05519873480105342,
+              1.1634639969925213
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499700055777629,
+              0.012267941808743105,
+              0.0
+            ],
+            "finger_gap": 0.02688859214806364,
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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": 1.1634639969925213,
+            "object_top_z": 1.2133475711636597,
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+            "object_projection_between_fingers": 0.8326591876922871,
+            "object_to_finger_line_xy": 0.010036970307451367,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047813579741795925,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46646109596369745,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3097230134273125,
+              -0.3450219832930864,
+              0.8515395831274248
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+            "target_position": [
+              0.3015066164960006,
+              -0.34642491562757805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008335310292246727,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632192039714646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831274248,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585220659931641,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3110883986180854,
+            -0.34530968575298093,
+            1.0432863406258754
+          ],
+          "object_origin_world": [
+            0.3110883986180854,
+            -0.34530968575298093,
+            1.0432863406258754
+          ],
+          "frame_world": [
+            0.31111300289573207,
+            -0.3453063606263439,
+            1.0435805008976984
+          ],
+          "center_minus_frame": [
+            -2.460427764666706e-05,
+            -3.3251266370326604e-06,
+            -0.0002941602718229408
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27500583226210595,
+              0.16393224966414954,
+              0.8311066052434283
+            ],
+            "target_position": [
+              0.28719623532577004,
+              0.21008673265910283,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773722056619994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1680379067293105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311066052434283,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670974843766,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13820522486529271,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0dd333284e6a8613ac62f1e2d92f22fd1c1b07c232cacadda76ab44f5275695",
+    "visual_seed": 4583710284066169818,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..510ab2677fda06fed3918266e3f9eb41a07797eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24925535944312302,
+              0.06533840432250185,
+              1.1632584721019938
+            ],
+            "current_z": 1.1632584721019938,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.30215184487793845,
+            "gripper_z": 1.1568020859135093,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24419550582199853,
+              0.06028628953334447,
+              1.1568020859135093
+            ],
+            "object_minus_gripper": [
+              0.005059853621124488,
+              0.005052114789157375,
+              0.006456386188484542
+            ],
+            "object_to_gripper_xy": 0.007150243528022613,
+            "object_to_gripper_z": 0.006456386188484542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24925535944312302,
+              0.0414841683085563,
+              1.1632584721019938
+            ],
+            "finger_b": [
+              0.2376888642628261,
+              0.06533840432250185,
+              1.1632584721019938
+            ],
+            "finger_midpoint": [
+              0.24347211185297457,
+              0.05341128631552908,
+              1.1632584721019938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005783247590148449,
+              0.01192711800697277,
+              0.0
+            ],
+            "finger_gap": 0.02651053350207892,
+            "fingertip_max_gap": 0.09064349030159638,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255266751039451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632584721019938,
+            "object_top_z": 1.2131481334096583,
+            "finger_top_clearance": 0.04988966130766448,
+            "fingertip_min_top_clearance": 0.01496689839229931,
+            "object_projection_between_fingers": 0.8096439750673242,
+            "object_to_finger_line_xy": 0.010407557654897056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782174515079819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5209938345026235,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3198226218286855,
+              -0.34436430209841806,
+              0.8515395065758321
+            ],
+            "target_position": [
+              0.3096272003355326,
+              -0.34653921351626576,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010424819379659687,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18870598594067292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395065758321,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.32105397963184495,
+            -0.3427886060911321,
+            1.0434833236025134
+          ],
+          "object_origin_world": [
+            0.32105397963184495,
+            -0.3427886060911321,
+            1.0434833236025134
+          ],
+          "frame_world": [
+            0.3210522050067989,
+            -0.3427964380066451,
+            1.043351149024818
+          ],
+          "center_minus_frame": [
+            1.7746250460803914e-06,
+            7.831915513012433e-06,
+            0.00013217457769543195
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2782706416258042,
+              0.15999942794763455,
+              0.8316177194062164
+            ],
+            "target_position": [
+              0.28687455241171256,
+              0.20721188618388992,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0479900353565407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16834384364979865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316177194062164,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670524543673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375141123997081,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46d2efd067a99a1242ed63a581cc88d5f425c0c9c65aad3889f83e2ba9ac4be8",
+    "visual_seed": 1388091894376161391,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98d6460b9c876241adc5f0f6d5f067d8deafe4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_79_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2492390734157151,
+              0.0618787646364269,
+              1.1620172926496661
+            ],
+            "current_z": 1.1620172926496661,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3009105462163212,
+            "gripper_z": 1.1555919628915736,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24391062406166755,
+              0.0569160927448933,
+              1.1555919628915736
+            ],
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+              0.005328449354047554,
+              0.004962671891533599,
+              0.006425329758092513
+            ],
+            "object_to_gripper_xy": 0.00728151665669093,
+            "object_to_gripper_z": 0.006425329758092513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2492390734157151,
+              0.03739378462003845,
+              1.1620172926496661
+            ],
+            "finger_b": [
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+              0.0618787646364269,
+              1.1620172926496661
+            ],
+            "finger_midpoint": [
+              0.2437935812236926,
+              0.049636274628232675,
+              1.1620172926496661
+            ],
+            "object_minus_finger_midpoint": [
+              0.005445492192022505,
+              0.012242490008194225,
+              0.0
+            ],
+            "finger_gap": 0.026797906396889563,
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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": 1.1620172926496661,
+            "object_top_z": 1.211981524753281,
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+            "object_projection_between_fingers": 0.8348294788777556,
+            "object_to_finger_line_xy": 0.009950983896006639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786340169337047,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48556214029320377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3173263993688349,
+              -0.3438518021010124,
+              0.8515396102948547
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+            "target_position": [
+              0.3093217168833426,
+              -0.3452435579608843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008124772370167357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419668371291437,
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+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006112974199231231,
+              "rod_tip_xy_max_step": 3.31266660479236e-05,
+              "rod_tip_xy_range": 0.0006112910244687354,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31536818486993295,
+            -0.34409433251384247,
+            1.0433406013672193
+          ],
+          "object_origin_world": [
+            0.31536818486993295,
+            -0.34409433251384247,
+            1.0433406013672193
+          ],
+          "frame_world": [
+            0.31536655065504515,
+            -0.34410134759901184,
+            1.043211252564221
+          ],
+          "center_minus_frame": [
+            1.6342148878023544e-06,
+            7.015085169370661e-06,
+            0.0001293488029983081
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27102701628441905,
+              0.16226192291051278,
+              0.8310925501272503
+            ],
+            "target_position": [
+              0.28129725847689074,
+              0.2085952131472626,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04745789353579572,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16905247456038702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8310925501272503,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674202954559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13867055647426688,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fde3077e26fb585b0c9a1adf80883b21cf00759f96c0a789057e4250d9fa6f8",
+    "visual_seed": 6402182861141539457,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a572ab52255376b1c55c69d844d394568a621e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_7_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.2478428433320038,
+              0.06436547524171124,
+              1.160975007207171
+            ],
+            "current_z": 1.160975007207171,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.29986855879704954,
+            "gripper_z": 1.1547090745420514,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2425517370267149,
+              0.05932479739939839,
+              1.1547090745420514
+            ],
+            "object_minus_gripper": [
+              0.005291106305288895,
+              0.005040677842312852,
+              0.006265932665119545
+            ],
+            "object_to_gripper_xy": 0.007307820403092268,
+            "object_to_gripper_z": 0.006265932665119545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2478428433320038,
+              0.04015836592542066,
+              1.160975007207171
+            ],
+            "finger_b": [
+              0.2365232303213828,
+              0.06436547524171124,
+              1.160975007207171
+            ],
+            "finger_midpoint": [
+              0.2421830368266933,
+              0.05226192058356595,
+              1.160975007207171
+            ],
+            "object_minus_finger_midpoint": [
+              0.005659806505310505,
+              0.01210355465814529,
+              0.0
+            ],
+            "finger_gap": 0.026722982246767706,
+            "fingertip_max_gap": 0.09071392908537762,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336149112338386,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160975007207171,
+            "object_top_z": 1.210941824920511,
+            "finger_top_clearance": 0.049966817713340106,
+            "fingertip_min_top_clearance": 0.014990045314001998,
+            "object_projection_between_fingers": 0.820570720587127,
+            "object_to_finger_line_xy": 0.01025391204603861,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785696454268881,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.355627400233443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3109249758273374,
+              -0.3380014880455874,
+              0.8515395714413839
+            ],
+            "target_position": [
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+                "rod_tip_xy_dist": 0.00035342327029433727,
+                "target_xy_drift": 2.9660353735189935e-08,
+                "depth": 0.019669807937591655,
+                "bottom_clearance": 0.0797707195807782,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000606486833816458,
+              "rod_tip_xy_max_step": 3.292835356233343e-05,
+              "rod_tip_xy_range": 0.0006064773224934449,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.310789008895597,
+            -0.33973006707273085,
+            1.04335796571879
+          ],
+          "object_origin_world": [
+            0.310789008895597,
+            -0.33973006707273085,
+            1.04335796571879
+          ],
+          "frame_world": [
+            0.31081362593330963,
+            -0.33972660298629653,
+            1.0436511105753643
+          ],
+          "center_minus_frame": [
+            -2.4617037712615364e-05,
+            -3.4640864343127298e-06,
+            -0.00029314485657438993
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2753284776255274,
+              0.160107496399708,
+              0.8318062304399418
+            ],
+            "target_position": [
+              0.28607815576650913,
+              0.2072157466438203,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04831917653682239,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16830594881421204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318062304399418,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567137007946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13749384482184995,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "634f2f802c1ca894e1f600febb79bf7d2e4fd9e2c38abfc157cb9c905ddcef3e",
+    "visual_seed": 1430321225081504121,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c35cdc9a3aec516dfa9081d7550e7fb23e15607
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_80_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.24914012797859428,
+              0.06309118190719133,
+              1.162189310224075
+            ],
+            "current_z": 1.162189310224075,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.30108256379072984,
+            "gripper_z": 1.1558611698691994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2438485652259535,
+              0.0581117860034536,
+              1.1558611698691994
+            ],
+            "object_minus_gripper": [
+              0.005291562752640783,
+              0.004979395903737735,
+              0.006328140354875611
+            ],
+            "object_to_gripper_xy": 0.007266018162053783,
+            "object_to_gripper_z": 0.006328140354875611,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24914012797859428,
+              0.03886585146105168,
+              1.162189310224075
+            ],
+            "finger_b": [
+              0.23793199507882712,
+              0.06309118190719133,
+              1.162189310224075
+            ],
+            "finger_midpoint": [
+              0.2435360615287107,
+              0.05097851668412151,
+              1.162189310224075
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604066449883566,
+              0.012112665223069821,
+              0.0
+            ],
+            "finger_gap": 0.026692487301177154,
+            "fingertip_max_gap": 0.09058038081515299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013346243650588568,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162189310224075,
+            "object_top_z": 1.212115313255942,
+            "finger_top_clearance": 0.049926003031866895,
+            "fingertip_min_top_clearance": 0.014977800909560067,
+            "object_projection_between_fingers": 0.8236853277002247,
+            "object_to_finger_line_xy": 0.010172177666228008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477901904075765,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21316097195708664,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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,
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+                  0.31219284985452195,
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+                ],
+                "target_mouth_xy": [
+                  0.31173027280503707,
+                  -0.34670744155071725
+                ],
+                "gripper_position": [
+                  0.31218320422262147,
+                  -0.3447332288385562,
+                  1.0017846564762782
+                ],
+                "rod_tip_xy_dist": 0.0020293865000795795,
+                "target_xy_drift": 1.5857364012502092e-07,
+                "depth": 0.019333959624463715,
+                "bottom_clearance": 0.08010667389690673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004529319752960004,
+                  0.0019742418783195714
+                ],
+                "rod_tip_xy": [
+                  0.3121832042226213,
+                  -0.34473322883855634
+                ],
+                "target_mouth_xy": [
+                  0.3117302722473253,
+                  -0.3467074707168759
+                ],
+                "gripper_position": [
+                  0.31217360004157557,
+                  -0.3447348844499858,
+                  1.0016429850308268
+                ],
+                "rod_tip_xy_dist": 0.0020255316261061753,
+                "target_xy_drift": 1.873831654958452e-07,
+                "depth": 0.019475191271914993,
+                "bottom_clearance": 0.07996539798873481,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006111081918790736,
+              "rod_tip_xy_max_step": 3.328283642353366e-05,
+              "rod_tip_xy_range": 0.0006111009413081814,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31187028030532493,
+            -0.3462057238226836,
+            1.043387329752425
+          ],
+          "object_origin_world": [
+            0.31187028030532493,
+            -0.3462057238226836,
+            1.043387329752425
+          ],
+          "frame_world": [
+            0.31186869709903847,
+            -0.346212948952055,
+            1.0432586237045485
+          ],
+          "center_minus_frame": [
+            1.583206286459582e-06,
+            7.2251293714020726e-06,
+            0.00012870604787651452
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27241718514061386,
+              0.16109287856528487,
+              0.8308038939462462
+            ],
+            "target_position": [
+              0.2838385995311456,
+              0.2080595221728651,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04833543543242062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16814190134727838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8308038939462462,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668410434246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13835520234302798,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e8ae593440dc6a75045e5dbb510b7e3c1217d6e7567491686adef3d59f739fc",
+    "visual_seed": 4303087328038820959,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..087b5696e0888ee6006571a5bc8672c141ef6e89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.24792850061136906,
+              0.05702189884762175,
+              1.162593612324581
+            ],
+            "current_z": 1.162593612324581,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30148692549588074,
+            "gripper_z": 1.1558785003238636,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24292355241886904,
+              0.05205598183500022,
+              1.1558785003238636
+            ],
+            "object_minus_gripper": [
+              0.005004948192500025,
+              0.004965917012621529,
+              0.006715112000717394
+            ],
+            "object_to_gripper_xy": 0.007050520419504733,
+            "object_to_gripper_z": 0.006715112000717394,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24792850061136906,
+              0.033092288879098306,
+              1.162593612324581
+            ],
+            "finger_b": [
+              0.2366245296265137,
+              0.05702189884762175,
+              1.162593612324581
+            ],
+            "finger_midpoint": [
+              0.24227651511894138,
+              0.04505709386336003,
+              1.162593612324581
+            ],
+            "object_minus_finger_midpoint": [
+              0.00565198549242768,
+              0.011964804984261723,
+              0.0
+            ],
+            "finger_gap": 0.026465184550123744,
+            "fingertip_max_gap": 0.09050361089903702,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232592275061872,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162593612324581,
+            "object_top_z": 1.2124613663317878,
+            "finger_top_clearance": 0.04986775400720678,
+            "fingertip_min_top_clearance": 0.014960326202161998,
+            "object_projection_between_fingers": 0.8175632972106662,
+            "object_to_finger_line_xy": 0.010220960910013005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047751805449518514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3191115856171064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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
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+                "bottom_clearance": 0.08009168222032781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014170572486149613,
+                  0.0016404253019484116
+                ],
+                "rod_tip_xy": [
+                  0.31633398963030046,
+                  -0.3364766339616525
+                ],
+                "target_mouth_xy": [
+                  0.3177510468789154,
+                  -0.3381170592636009
+                ],
+                "gripper_position": [
+                  0.3163241130220261,
+                  -0.3364783449681528,
+                  1.001627607855213
+                ],
+                "rod_tip_xy_dist": 0.0021677284002210103,
+                "target_xy_drift": 6.670310595511506e-08,
+                "depth": 0.01949073333939788,
+                "bottom_clearance": 0.07994979798712487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001426938173490877,
+                  0.0016387460302264012
+                ],
+                "rod_tip_xy": [
+                  0.3163241130220262,
+                  -0.3364783449681529
+                ],
+                "target_mouth_xy": [
+                  0.31775105119551705,
+                  -0.3381170909983793
+                ],
+                "gripper_position": [
+                  0.31631414815308523,
+                  -0.3364801348214937,
+                  1.0014857774632904
+                ],
+                "rod_tip_xy_dist": 0.0021729337547537588,
+                "target_xy_drift": 6.419107944339696e-08,
+                "depth": 0.019632310656472862,
+                "bottom_clearance": 0.07980835778118656,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006136041900016935,
+              "rod_tip_xy_max_step": 3.3202317419338e-05,
+              "rod_tip_xy_range": 0.0006135905048630526,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31595994980362224,
+            -0.33798559533737044,
+            1.0433575804859108
+          ],
+          "object_origin_world": [
+            0.31595994980362224,
+            -0.33798559533737044,
+            1.0433575804859108
+          ],
+          "frame_world": [
+            0.3159580247140092,
+            -0.3379927039015818,
+            1.0432288099181506
+          ],
+          "center_minus_frame": [
+            1.9250896130529327e-06,
+            7.1085642113777325e-06,
+            0.00012877056776017248
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.269878154845824,
+              0.16417671569256573,
+              0.8318214545646262
+            ],
+            "target_position": [
+              0.2796930024713551,
+              0.2110929464574643,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04793186771968737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16757366709995614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318214545646262,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669761896167,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13735527920186985,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1eb365967ab5342584a5437f9ddd784245843cf23181fd1523d01d8e154a9eec",
+    "visual_seed": 9143825974953900992,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e8acaaa1b5a2d776497b632fd745527d72741d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_82_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25601137456644296,
+              0.06547556542245159,
+              1.1625643442068552
+            ],
+            "current_z": 1.1625643442068552,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3014578361920892,
+            "gripper_z": 1.155997457506762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2508505992413495,
+              0.06039636105500634,
+              1.155997457506762
+            ],
+            "object_minus_gripper": [
+              0.0051607753250934585,
+              0.005079204367445245,
+              0.0065668867000932
+            ],
+            "object_to_gripper_xy": 0.007240988811092608,
+            "object_to_gripper_z": 0.0065668867000932,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25601137456644296,
+              0.04158817588751687,
+              1.1625643442068552
+            ],
+            "finger_b": [
+              0.24434689085405,
+              0.06547556542245159,
+              1.1625643442068552
+            ],
+            "finger_midpoint": [
+              0.2501791327102465,
+              0.05353187065498423,
+              1.1625643442068552
+            ],
+            "object_minus_finger_midpoint": [
+              0.005832241856196463,
+              0.011943694767467358,
+              0.0
+            ],
+            "finger_gap": 0.02658321950160268,
+            "fingertip_max_gap": 0.09104086253585258,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013291609750801334,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625643442068552,
+            "object_top_z": 1.2124329291103393,
+            "finger_top_clearance": 0.049868584903484114,
+            "fingertip_min_top_clearance": 0.014960575471045234,
+            "object_projection_between_fingers": 0.8074622521859279,
+            "object_to_finger_line_xy": 0.010481577152272072,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048020431267926295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7460525127486908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+              },
+              {
+                "frame": 406,
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+                  0.002150490863852439
+                ],
+                "rod_tip_xy": [
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+                  -0.3350885916588475,
+                  1.0018090214723365
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+                "target_xy_drift": 6.607496978502151e-08,
+                "depth": 0.01930900238858546,
+                "bottom_clearance": 0.0801315066317364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012231303710779073,
+                  0.0021488145751393795
+                ],
+                "rod_tip_xy": [
+                  0.31697107730524243,
+                  -0.3350885916588475
+                ],
+                "target_mouth_xy": [
+                  0.31819420767632034,
+                  -0.3372374062339869
+                ],
+                "gripper_position": [
+                  0.31696098293553765,
+                  -0.33509021397270655,
+                  1.0016671286082963
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+                "rod_tip_xy_dist": 0.0024725395816820833,
+                "target_xy_drift": 6.554629940784592e-08,
+                "depth": 0.019450795166257917,
+                "bottom_clearance": 0.07998970414688444,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006131636569692569,
+              "rod_tip_xy_max_step": 3.3267992286787174e-05,
+              "rod_tip_xy_range": 0.0006131562278835321,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31660533624138215,
+            -0.3365355516888344,
+            1.0433605187516302
+          ],
+          "object_origin_world": [
+            0.31660533624138215,
+            -0.3365355516888344,
+            1.0433605187516302
+          ],
+          "frame_world": [
+            0.3166035633518759,
+            -0.3365421697926706,
+            1.043232369399167
+          ],
+          "center_minus_frame": [
+            1.7728895062574246e-06,
+            6.6181038361756706e-06,
+            0.0001281493524631916
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2719280261916418,
+              0.15465084350436883,
+              0.8320436437937656
+            ],
+            "target_position": [
+              0.28184450248230974,
+              0.201353258829441,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0477436079409476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16856200547274355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320436437937656,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671278531966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13842848761669538,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06ed6079952bf3938ca12655729fa3a104f7647e83dff09892c82d5ae6bd8a0d",
+    "visual_seed": 2614937086809385553,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ad6725c02dcab99c527a4b9880c744c10a9530
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "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,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25320389625865447,
+              0.06431907606505936,
+              1.1631949959540746
+            ],
+            "current_z": 1.1631949959540746,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30208842833466387,
+            "gripper_z": 1.1566786847426687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2480964169154323,
+              0.05925122231483572,
+              1.1566786847426687
+            ],
+            "object_minus_gripper": [
+              0.005107479343222171,
+              0.005067853750223644,
+              0.006516311211405945
+            ],
+            "object_to_gripper_xy": 0.007195101588935144,
+            "object_to_gripper_z": 0.006516311211405945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25320389625865447,
+              0.04036585721999134,
+              1.1631949959540746
+            ],
+            "finger_b": [
+              0.24168672049687612,
+              0.06431907606505936,
+              1.1631949959540746
+            ],
+            "finger_midpoint": [
+              0.2474453083777653,
+              0.052342466642525357,
+              1.1631949959540746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005758587880889177,
+              0.011976609422534007,
+              0.0
+            ],
+            "finger_gap": 0.02657822474446735,
+            "fingertip_max_gap": 0.09096439537708514,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013289112372233671,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631949959540746,
+            "object_top_z": 1.2131665924148953,
+            "finger_top_clearance": 0.04997159646082072,
+            "fingertip_min_top_clearance": 0.014991478938246216,
+            "object_projection_between_fingers": 0.8122240143885946,
+            "object_to_finger_line_xy": 0.01037967863359335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047982197688542574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6004252056840612,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+                "depth": 0.019124118408398894,
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+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
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+                  0.0018039701847231138
+                ],
+                "rod_tip_xy": [
+                  0.31372805084389094,
+                  -0.3372542567608523
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+                  0.31545310996933235,
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+                  0.3137180884674798,
+                  -0.3372560337175764,
+                  1.0018547087468015
+                ],
+                "rod_tip_xy_dist": 0.002496024321523855,
+                "target_xy_drift": 2.8085248500601057e-08,
+                "depth": 0.019264593407221642,
+                "bottom_clearance": 0.080175939377365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001735052136141113,
+                  0.001802254106404666
+                ],
+                "rod_tip_xy": [
+                  0.31371808846747967,
+                  -0.3372560337175765
+                ],
+                "target_mouth_xy": [
+                  0.3154531406036208,
+                  -0.3390582878239812
+                ],
+                "gripper_position": [
+                  0.31373736430917376,
+                  -0.3373434484174299,
+                  1.0013351342716978
+                ],
+                "rod_tip_xy_dist": 0.002501704574721068,
+                "target_xy_drift": 4.742003234158249e-08,
+                "depth": 0.019405206349918824,
+                "bottom_clearance": 0.08003540427918354,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000613426649082055,
+              "rod_tip_xy_max_step": 3.3207044393381063e-05,
+              "rod_tip_xy_range": 0.0006134180012462505,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.31337525320183124,
+            -0.3388178475192144,
+            1.0435619220427708
+          ],
+          "object_origin_world": [
+            0.31337525320183124,
+            -0.3388178475192144,
+            1.0435619220427708
+          ],
+          "frame_world": [
+            0.3133734915613892,
+            -0.33882466010972606,
+            1.043434099244666
+          ],
+          "center_minus_frame": [
+            1.7616404420217613e-06,
+            6.812590511662275e-06,
+            0.00012782279810474861
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2686915919285522,
+              0.15805598237442908,
+              0.8319787028671823
+            ],
+            "target_position": [
+              0.27940207436589876,
+              0.20435603235392774,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752272153554322,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1660729801189741,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319787028671823,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567289611541,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13542551277246154,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a873b8f56816035419a2a18c33d03be62d70eb084edccb4907212324d0b82cce",
+    "visual_seed": 6318037179117017601,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70072e215bbc2e5c2c2075989e8bbd22e279fcac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_84_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 84,
+  "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": [
+              0.2520581423302787,
+              0.06015796654054403,
+              1.1627252941051502
+            ],
+            "current_z": 1.1627252941051502,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3016187860903843,
+            "gripper_z": 1.1563406707380348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24674715542716327,
+              0.0551656810331613,
+              1.1563406707380348
+            ],
+            "object_minus_gripper": [
+              0.0053109869031154056,
+              0.004992285507382732,
+              0.006384623367115427
+            ],
+            "object_to_gripper_xy": 0.007288998317484168,
+            "object_to_gripper_z": 0.006384623367115427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2520581423302787,
+              0.03585248700653357,
+              1.1627252941051502
+            ],
+            "finger_b": [
+              0.24091814178859733,
+              0.06015796654054403,
+              1.1627252941051502
+            ],
+            "finger_midpoint": [
+              0.246488142059438,
+              0.0480052267735388,
+              1.1627252941051502
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570000270840675,
+              0.012152739767005233,
+              0.0
+            ],
+            "finger_gap": 0.0267367901485362,
+            "fingertip_max_gap": 0.09054795833686194,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0133683950742681,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627252941051502,
+            "object_top_z": 1.2127121890626227,
+            "finger_top_clearance": 0.04998689495747244,
+            "fingertip_min_top_clearance": 0.014996068487241731,
+            "object_projection_between_fingers": 0.8263991332632991,
+            "object_to_finger_line_xy": 0.01012698434144404,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777397916843097,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19488217666792743,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+                "centered": true
+              },
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+                "rod_tip_xy": [
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+                "target_xy_drift": 9.26026583695558e-08,
+                "depth": 0.01928575958305878,
+                "bottom_clearance": 0.08015480776073358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
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+                  0.001069214344556424
+                ],
+                "rod_tip_xy": [
+                  0.32162861985659513,
+                  -0.3375009324691388
+                ],
+                "target_mouth_xy": [
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+                  -0.33857014681369524
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+                "gripper_position": [
+                  0.3216186946596423,
+                  -0.33750259161981977,
+                  1.001684417259251
+                ],
+                "rod_tip_xy_dist": 0.001958972011668242,
+                "target_xy_drift": 5.951079031790085e-08,
+                "depth": 0.019430431657440295,
+                "bottom_clearance": 0.08001018399547344,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006091785203364555,
+              "rod_tip_xy_max_step": 3.317309464486897e-05,
+              "rod_tip_xy_range": 0.000609175239578023,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3213951020284914,
+            -0.33899312579805685,
+            1.0434271335984284
+          ],
+          "object_origin_world": [
+            0.3213951020284914,
+            -0.33899312579805685,
+            1.0434271335984284
+          ],
+          "frame_world": [
+            0.32141951067897,
+            -0.33898966986223134,
+            1.0437174854951827
+          ],
+          "center_minus_frame": [
+            -2.44086504785912e-05,
+            -3.455935825513734e-06,
+            -0.00029035189675430395
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27528245237658777,
+              0.15647893112280797,
+              0.8322586708923387
+            ],
+            "target_position": [
+              0.28319263979264786,
+              0.20333151552125583,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047515636686998895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16991246185734613,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322586708923387,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668652414433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13853868462707628,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a42b206dc72c418a77db435bd352f98c5d6986a1c749ad5a4e84c04184462797",
+    "visual_seed": 2297127824569627028,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81b65e6609db1acf5239c4b51cbfbfceb02a435
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_85_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.2563321336363512,
+              0.06800991299934755,
+              1.1625243276312753
+            ],
+            "current_z": 1.1625243276312753,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30141787922115426,
+            "gripper_z": 1.156213997299809,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.250854253395578,
+              0.06289061174513351,
+              1.156213997299809
+            ],
+            "object_minus_gripper": [
+              0.005477880240773225,
+              0.005119301254214045,
+              0.0063103303314664405
+            ],
+            "object_to_gripper_xy": 0.007497627442308081,
+            "object_to_gripper_z": 0.0063103303314664405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2563321336363512,
+              0.04354406450590642,
+              1.1625243276312753
+            ],
+            "finger_b": [
+              0.24504998112640552,
+              0.06800991299934755,
+              1.1625243276312753
+            ],
+            "finger_midpoint": [
+              0.25069105738137837,
+              0.05577698875262699,
+              1.1625243276312753
+            ],
+            "object_minus_finger_midpoint": [
+              0.005641076254972843,
+              0.012232924246720567,
+              0.0
+            ],
+            "finger_gap": 0.026941876470685733,
+            "fingertip_max_gap": 0.09087453036800522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013470938235342867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625243276312753,
+            "object_top_z": 1.2124733210540302,
+            "finger_top_clearance": 0.04994899342275483,
+            "fingertip_min_top_clearance": 0.014984698026826481,
+            "object_projection_between_fingers": 0.8246409228929428,
+            "object_to_finger_line_xy": 0.010245293578142595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793726518400261,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6316516789469963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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",
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+                "fr3_joint3",
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+                "depth": 0.019270649513007054,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
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+                "rod_tip_xy": [
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+                "target_mouth_xy": [
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+                  -0.34248630307724415,
+                  1.0017063006134899
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+                "rod_tip_xy_dist": 0.0030923170796269394,
+                "target_xy_drift": 2.798548142986116e-08,
+                "depth": 0.019412346513329015,
+                "bottom_clearance": 0.08002823422231764,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006128813022292283,
+              "rod_tip_xy_max_step": 3.327080027807078e-05,
+              "rod_tip_xy_range": 0.000612871123044601,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3123783922977258,
+            -0.3439854109408716,
+            1.0433566559480625
+          ],
+          "object_origin_world": [
+            0.3123783922977258,
+            -0.3439854109408716,
+            1.0433566559480625
+          ],
+          "frame_world": [
+            0.3123766986195147,
+            -0.34399231309874234,
+            1.0432285839439661
+          ],
+          "center_minus_frame": [
+            1.6936782110676951e-06,
+            6.9021578707473275e-06,
+            0.00012807200409636899
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26955421565156934,
+              0.15717530539144436,
+              0.8318564358152641
+            ],
+            "target_position": [
+              0.2794662948738119,
+              0.20420921547520404,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04806701584532998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16905295443971563,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318564358152641,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671119206506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13899697335189554,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77a95642b777c3e32185327e7b92b4ff141892e7b382288756788aacc78330a5",
+    "visual_seed": 4454840980852534884,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91114e7f661e6db2106bbc63002c7fa8d2437f30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_8_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24891242802774954,
+              0.06741339737147933,
+              1.160789922672357
+            ],
+            "current_z": 1.160789922672357,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.29968323584365686,
+            "gripper_z": 1.154466129093271,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24366165179674434,
+              0.0624002536876965,
+              1.154466129093271
+            ],
+            "object_minus_gripper": [
+              0.0052507762310052,
+              0.005013143683782834,
+              0.006323793579086079
+            ],
+            "object_to_gripper_xy": 0.007259632264952605,
+            "object_to_gripper_z": 0.006323793579086079,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24891242802774954,
+              0.04326188151885905,
+              1.160789922672357
+            ],
+            "finger_b": [
+              0.2375919700919128,
+              0.06741339737147933,
+              1.160789922672357
+            ],
+            "finger_midpoint": [
+              0.24325219905983117,
+              0.05533763944516919,
+              1.160789922672357
+            ],
+            "object_minus_finger_midpoint": [
+              0.005660228967918374,
+              0.012075757926310146,
+              0.0
+            ],
+            "finger_gap": 0.026672991693029453,
+            "fingertip_max_gap": 0.09072080036919469,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333649584651473,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160789922672357,
+            "object_top_z": 1.2107607798792155,
+            "finger_top_clearance": 0.049970857206858454,
+            "fingertip_min_top_clearance": 0.01499125716205757,
+            "object_projection_between_fingers": 0.8198706295329546,
+            "object_to_finger_line_xy": 0.010250301969978594,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786040018459735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4011256780939965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": [
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+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  -5.0052488594465316e-05
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+                "rod_tip_xy": [
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+                "target_xy_drift": 3.1093382236781696e-08,
+                "depth": 0.0194631721175208,
+                "bottom_clearance": 0.07997735395712169,
+                "inserted": true,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006063314088894965,
+              "rod_tip_xy_max_step": 3.298670418271749e-05,
+              "rod_tip_xy_range": 0.0006063235358293415,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3186914142526582,
+            -0.34870596688461786,
+            1.0434193054594532
+          ],
+          "object_origin_world": [
+            0.3186914142526582,
+            -0.34870596688461786,
+            1.0434193054594532
+          ],
+          "frame_world": [
+            0.31871559842169306,
+            -0.34870188428378696,
+            1.0437092672072366
+          ],
+          "center_minus_frame": [
+            -2.4184169034879854e-05,
+            -4.082600830901395e-06,
+            -0.000289961747783396
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2684574136142335,
+              0.16101102956626734,
+              0.830697399053351
+            ],
+            "target_position": [
+              0.2793293464997648,
+              0.20764869195193825,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04788810371550873,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16647672649906683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.830697399053351,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671026927783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13627478040206106,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "9ccd3efce57d4076338dbdf1c1bdbf9ca1bd4dee31d38e107ed10ae8fcd4559b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94a1db6e6c009cf83ffcbd2a7a49e701e57b99ec9a79d1d30d2e9126bea696b9",
+    "visual_seed": 2342627369434609644,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f219a1850a8983805eb4abf11b7ee617893d59ac9ba003430d3a6a2497e87cd7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75876e1318db44af98115f54f187f1c2ffe36196
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.25072122195933544,
+              0.06028758223040347,
+              1.1636940274105556
+            ],
+            "current_z": 1.1636940274105556,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30258751939578954,
+            "gripper_z": 1.1574152887402964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24532871036364604,
+              0.05524883521820072,
+              1.1574152887402964
+            ],
+            "object_minus_gripper": [
+              0.005392511595689403,
+              0.005038747012202756,
+              0.006278738670259187
+            ],
+            "object_to_gripper_xy": 0.0073802542478309556,
+            "object_to_gripper_z": 0.006278738670259187,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25072122195933544,
+              0.03595928182574368,
+              1.1636940274105556
+            ],
+            "finger_b": [
+              0.23946768169375468,
+              0.06028758223040347,
+              1.1636940274105556
+            ],
+            "finger_midpoint": [
+              0.24509445182654505,
+              0.04812343202807358,
+              1.1636940274105556
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626770132790393,
+              0.012164150202329894,
+              0.0
+            ],
+            "finger_gap": 0.026805006418361803,
+            "fingertip_max_gap": 0.09048388298349139,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013402503209180903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636940274105556,
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00010/results/summary.json
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+  "published_successes": 83,
+  "published_failures": 0,
+  "matched_success_results": 83
+}
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botwin2/background_texture/seen/5940.png","name":"5940"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":666.6092734297617,"rotation_z_degrees":223.7402071563993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014953771560689357,0.0006660909905838799,-0.005907518419316542]},{"name":"camera_2","offset_m":[0.01593069263383604,-0.0032170402203581493,-0.01621641875816969]},{"name":"camera_3","offset_m":[0.019036797684477563,-0.006209967113768191,-0.015938220275997166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001202367376406944,0.00043850602286659617,0.001898426908375217],"end_effector_yaw_offset_degrees":-0.11324585483926564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015879944612251689,9.471730606928908e-05,5.5790862003353685e-05],"end_effector_yaw_offset_degrees":-0.7884056197301759},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001619842969391896,-0.00043063900897675816,-0.0014522739101869597],"end_effector_yaw_offset_degrees":-0.6332185885184034},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-2.9714168926948947e-06,-0.0006149642565092561,-0.0005724046928498271],"end_effector_yaw_offset_degrees":-0.7035604618189775},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005570757497766591,0.000671138813006943,-0.0016460271483576437],"end_effector_yaw_offset_degrees":0.03836627592924824},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017808544079125558,0.0008516871722230425,0.0009031323624050058],"end_effector_yaw_offset_degrees":-0.8378365312953417}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004084836387853484,-0.0008677958354881953],"position_m":[0.2738151636121465,-0.1083677958354882,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002629202673900658,-0.001008139776483864],"position_m":[0.20432920267390065,-0.34870813977648385,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012335935551044453,0.004621353200041663],"position_m":[0.2798664064448956,0.32212135320004165,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003951500290046834,-0.003287214351221507],"position_m":[0.28104849970995316,0.037712785648778495,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"92bc5f79b1fccbddfeb3499e70964e226c363d4af6c4a6660a8137d3f104d569","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9983/tex_ceiling_textures_5940/tex_floor_textures_2189/tex_table_textures_9222/tex_wall_textures_2212","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1969112907504108581,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1969112907504108581,"visual_seed":1969112907504108581,"scene_id":"lab_003","finished_at":"2026-09-08T17:01:10"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b17fe7c588ce218f98591923b9681f31ef6f174b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00013
+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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00013
+  reproducibility:
+    enabled: true
+    layout_id: layout_00013
+    action_seed: 6120436585598675838
+    step_seeds:
+    - 5975741771095771893
+    - 3504213630932996537
+    - 7867242958540830227
+    - 6257227105719342557
+    - 6626310056599117899
+    - 2251025298288835724
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2779
+      - 0.2779
+      'y':
+      - -0.1075
+      - -0.1075
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.285
+      - 0.285
+      'y':
+      - 0.041
+      - 0.041
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2017
+      - 0.2017
+      'y':
+      - -0.3477
+      - -0.3477
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2811
+      - 0.2811
+      'y':
+      - 0.3175
+      - 0.3175
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afe3a672dae236a5b963952b542564c1c67a3c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3093999181083071,
+              -0.1104088896093207,
+              1.1663939114281887
+            ],
+            "current_z": 1.1663939114281887,
+            "required_z": 0.8611064484101215,
+            "initial_z": 0.7611064484101215,
+            "lift_margin": 0.3052874630180672,
+            "gripper_z": 1.1576096304356311,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051631209908824,
+              -0.11472101254537619,
+              1.1576096304356311
+            ],
+            "object_minus_gripper": [
+              0.0042367971174246954,
+              0.004312122936055485,
+              0.00878428099255757
+            ],
+            "object_to_gripper_xy": 0.006045233992979427,
+            "object_to_gripper_z": 0.00878428099255757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3093999181083071,
+              -0.13407473531168781,
+              1.1663939114281887
+            ],
+            "finger_b": [
+              0.299422085237603,
+              -0.1104088896093207,
+              1.1663939114281887
+            ],
+            "finger_midpoint": [
+              0.30441100167295504,
+              -0.12224181246050425,
+              1.1663939114281887
+            ],
+            "object_minus_finger_midpoint": [
+              0.004988916435352042,
+              0.01183292285118355,
+              0.0
+            ],
+            "finger_gap": 0.025683251383030747,
+            "fingertip_max_gap": 0.09280461047758312,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012841625691515368,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663939114281887,
+            "object_top_z": 1.2163995087519388,
+            "finger_top_clearance": 0.050005597323750095,
+            "fingertip_min_top_clearance": 0.015001679197125029,
+            "object_projection_between_fingers": 0.8490710866531718,
+            "object_to_finger_line_xy": 0.009194079427112797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890230523879156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.167359632094143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2615251609196621,
+              -0.34772852035329177,
+              0.8515394958921855
+            ],
+            "target_position": [
+              0.25498976311188026,
+              -0.3472767274028436,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006550995449245431,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848021673764548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394958921855,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548172886008057,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08796469095805097,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15257389798856916,
+            "release_required_pad_clearance": 0.05398234547902549,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9756002050967028,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007281780242919922,
+            "max_z_decrease": 0.007281780242919922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511548443580448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007281780242919922,
+            "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": 0.0212336956288135,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007281780242919922,
+            "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": 0.007281800543391785,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1106896921992302,
+              -0.40353819727897644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1106896921992302,
+              -0.40353819727897644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10941917924054695,
+              -0.4053728013329119,
+              0.8076044728774817
+            ],
+            "closest_button": [
+              0.11067886650562286,
+              -0.40353354811668396,
+              0.7725598216056824
+            ],
+            "closest_ee_minus_button": [
+              -0.001259687265075915,
+              -0.0018392532162279651,
+              0.03504465127179934
+            ],
+            "button_min_z_position": [
+              0.11067280173301697,
+              -0.40353497862815857,
+              0.7695270776748657
+            ],
+            "min_active_finger_to_button": 0.14728135117780392,
+            "closest_active_finger": [
+              -0.0319080725312233,
+              -0.3908643424510956,
+              0.810865581035614
+            ],
+            "closest_active_finger_button": [
+              0.11069192737340926,
+              -0.40353718400001526,
+              0.7762760519981384
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14259999990463257,
+              0.012672841548919678,
+              0.034589529037475586
+            ],
+            "min_contact_pad_to_button": 0.0212336956288135,
+            "closest_contact_pad": [
+              0.11067280173301697,
+              -0.4063549955775865,
+              0.7905726789839762
+            ],
+            "closest_contact_pad_button": [
+              0.11067280173301697,
+              -0.40353497862815857,
+              0.7695270776748657
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002820016949427906,
+              0.021045601309110484
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28d02d8dbbd1a56dc920b13399cea7a57572d5ad5b0b8d51efbcc87ce37a7382",
+    "visual_seed": 682164458909375049,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e7417b999d2382c7c6fdc502bc8124528b23ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_12_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30169646917743387,
+              -0.10901083707750232,
+              1.1661479792763272
+            ],
+            "current_z": 1.1661479792763272,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30504141165691634,
+            "gripper_z": 1.1576565107007424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29721715726009146,
+              -0.11343075041404513,
+              1.1576565107007424
+            ],
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+              0.00447931191734241,
+              0.004419913336542805,
+              0.008491468575584804
+            ],
+            "object_to_gripper_xy": 0.006292842692725974,
+            "object_to_gripper_z": 0.008491468575584804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30169646917743387,
+              -0.13288981703262354,
+              1.1661479792763272
+            ],
+            "finger_b": [
+              0.29163794347765953,
+              -0.10901083707750232,
+              1.1661479792763272
+            ],
+            "finger_midpoint": [
+              0.29666720632754673,
+              -0.12095032705506292,
+              1.1661479792763272
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050292628498871395,
+              0.0119394899775606,
+              0.0
+            ],
+            "finger_gap": 0.025910994248583005,
+            "fingertip_max_gap": 0.09268864310225763,
+            "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": 1.1661479792763272,
+            "object_top_z": 1.216214429079664,
+            "finger_top_clearance": 0.05006644980333674,
+            "fingertip_min_top_clearance": 0.015019934941001022,
+            "object_projection_between_fingers": 0.8493044236158769,
+            "object_to_finger_line_xy": 0.009269707339621623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884432155112882,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0428439031876002,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26100867599749844,
+              -0.35229494148949414,
+              0.8515395762556875
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+            "target_position": [
+              0.25483936018020126,
+              -0.35168983072411547,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006198920607003317,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.181835482812078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395762556875,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527045329763679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772965725523559,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15023145886482772,
+            "release_required_pad_clearance": 0.053864828627617795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7391873177725072,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007463932037353516,
+            "max_z_decrease": 0.007463932037353516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509410508720709,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007463932037353516,
+            "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": 0.02117680031063768,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007463932037353516,
+            "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": 0.007463956784459614,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11053928732872007,
+              -0.4079512953758239,
+              0.7768088579177856
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+            "button_final": [
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+              -0.4079512953758239,
+              0.7768088579177856
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+            "closest_ee": [
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+              -0.40905037235172304,
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.40794754028320307,
+              0.7693449258804321
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+            "min_active_finger_to_button": 0.14743221806562581,
+            "closest_active_finger": [
+              -0.03200957924127579,
+              -0.39304783940315247,
+              0.8106950521469116
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+            "closest_active_finger_button": [
+              0.11053876578807828,
+              -0.40795171260833735,
+              0.7761392593383789
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14254834502935407,
+              0.014903873205184881,
+              0.034555792808532715
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+            "min_contact_pad_to_button": 0.02117680031063768,
+            "closest_contact_pad": [
+              0.11052043735980986,
+              -0.410149683009802,
+              0.7904069162614078
+            ],
+            "closest_contact_pad_button": [
+              0.11052043735980986,
+              -0.40794754028320307,
+              0.7693449258804321
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00220214272659891,
+              0.02106199038097567
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03b40e3b7d2e5cdf236d83ad7236b7110b2c9b1ee37a81c618cc1b5b9126605b",
+    "visual_seed": 4340958171842173634,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03e4987af2d87be3601df12c08b1a5d64634becb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30751246596289933,
+              -0.10828595130125543,
+              1.16493338934903
+            ],
+            "current_z": 1.16493338934903,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3038269409389087,
+            "gripper_z": 1.1562020648223827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30304527508454016,
+              -0.1127464325429637,
+              1.1562020648223827
+            ],
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+              0.004467190878359173,
+              0.004460481241708267,
+              0.008731324526647155
+            ],
+            "object_to_gripper_xy": 0.006312819279159409,
+            "object_to_gripper_z": 0.008731324526647155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30751246596289933,
+              -0.13208907555621147,
+              1.16493338934903
+            ],
+            "finger_b": [
+              0.2972780434227591,
+              -0.10828595130125543,
+              1.16493338934903
+            ],
+            "finger_midpoint": [
+              0.30239525469282924,
+              -0.12018751342873345,
+              1.16493338934903
+            ],
+            "object_minus_finger_midpoint": [
+              0.005117211270070088,
+              0.011901562127478019,
+              0.0
+            ],
+            "finger_gap": 0.02591007775030802,
+            "fingertip_max_gap": 0.09229910634703811,
+            "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": 1.16493338934903,
+            "object_top_z": 1.214894564709825,
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+            "fingertip_min_top_clearance": 0.014988352608238541,
+            "object_projection_between_fingers": 0.8439767736396887,
+            "object_to_finger_line_xy": 0.009402180639839445,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864955317351906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7385834533346656,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2635968131067665,
+              -0.3493763563353721,
+              0.8515396123665653
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+            "target_position": [
+              0.2563050507644607,
+              -0.34965439929646913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007297061459579808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824893111759859,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396123665653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563338850348579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710461311298855,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15010023302733494,
+            "release_required_pad_clearance": 0.053552306556494275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.1159084068242517,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007578074932098389,
+            "max_z_decrease": 0.007578074932098389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096754510521314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007578074932098389,
+            "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": 0.02115108541430111,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007578074932098389,
+            "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": 0.007578098298568438,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.40591585636138916,
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+            "button_final": [
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+              -0.40591585636138916,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "min_active_finger_to_button": 0.14497192265649417,
+            "closest_active_finger": [
+              -0.028132960200309753,
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+              0.8111785054206848
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+            "closest_active_finger_button": [
+              0.11200708895921706,
+              -0.4059134721755981,
+              0.7765898704528809
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014004915952682,
+              0.0134629607200622,
+              0.034588634967803955
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75de7242038e54eab71021e9a28d2c60208c8b4253eab97ffc97531b663046da",
+    "visual_seed": 2720312025892200586,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba01473440743fcb505f8dac959aa2bc23b53c3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_19_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.30903551850004496,
+              -0.10960419006130392,
+              1.1658248352499805
+            ],
+            "current_z": 1.1658248352499805,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30471844644450397,
+            "gripper_z": 1.1570237026669001,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3047643106072919,
+              -0.11398682085838252,
+              1.1570237026669001
+            ],
+            "object_minus_gripper": [
+              0.004271207892753037,
+              0.004382630797078596,
+              0.008801132583080351
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+            "object_to_gripper_xy": 0.006119695218441652,
+            "object_to_gripper_z": 0.008801132583080351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30903551850004496,
+              -0.13324150114337965,
+              1.1658248352499805
+            ],
+            "finger_b": [
+              0.2988865487990488,
+              -0.10960419006130392,
+              1.1658248352499805
+            ],
+            "finger_midpoint": [
+              0.30396103364954685,
+              -0.12142284560234179,
+              1.1658248352499805
+            ],
+            "object_minus_finger_midpoint": [
+              0.005074484850498107,
+              0.011818655541037865,
+              0.0
+            ],
+            "finger_gap": 0.025723997768281628,
+            "fingertip_max_gap": 0.09235876579162908,
+            "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": 1.1658248352499805,
+            "object_top_z": 1.2158807336966966,
+            "finger_top_clearance": 0.050055898446716096,
+            "fingertip_min_top_clearance": 0.015016769534014795,
+            "object_projection_between_fingers": 0.8443435987386264,
+            "object_to_finger_line_xy": 0.009325702643342785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867938289581454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6859765522442633,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26336893825871877,
+              -0.3493268921911289,
+              0.851539587755144
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+            "target_position": [
+              0.2570548741548389,
+              -0.3488710134653001,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006330500052963229,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18318197714802595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539587755144,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537355313756078,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653905851231607,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15138110694579354,
+            "release_required_pad_clearance": 0.053269529256158035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5586797174775986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00730520486831665,
+            "max_z_decrease": 0.00730520486831665,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509412961809671,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00730520486831665,
+            "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": 0.021179320925953673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00730520486831665,
+            "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": 0.007305223592951674,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4051324725151062,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.14609218114017286,
+            "closest_active_finger": [
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+              -0.3878476619720459,
+              0.8107385635375977
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+            "closest_active_finger_button": [
+              0.1127553433179855,
+              -0.40513178706169123,
+              0.7762561440467834
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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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": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65bf9f4c9900de223817561a45dd7c3a879c9f6d4f15f407af216f8297b5c4bd",
+    "visual_seed": 6960403665479429587,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a71f739df3731a26d038395d0ab3371836aca63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_24_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3060006363800647,
+              -0.1115690926980022,
+              1.1640898860277527
+            ],
+            "current_z": 1.1640898860277527,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30298343761763125,
+            "gripper_z": 1.1554238711934814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3016610354540414,
+              -0.1160696374919593,
+              1.1554238711934814
+            ],
+            "object_minus_gripper": [
+              0.004339600926023313,
+              0.00450054479395709,
+              0.008666014834271207
+            ],
+            "object_to_gripper_xy": 0.006251962862938059,
+            "object_to_gripper_z": 0.008666014834271207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3060006363800647,
+              -0.13510266263516676,
+              1.1640898860277527
+            ],
+            "finger_b": [
+              0.29549330567386545,
+              -0.1115690926980022,
+              1.1640898860277527
+            ],
+            "finger_midpoint": [
+              0.30074697102696507,
+              -0.12333587766658449,
+              1.1640898860277527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005253665353099624,
+              0.011766784968582286,
+              0.0
+            ],
+            "finger_gap": 0.02577271643728796,
+            "fingertip_max_gap": 0.09238706232479713,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012886358218643987,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640898860277527,
+            "object_top_z": 1.2141449149454364,
+            "finger_top_clearance": 0.050055028917683764,
+            "fingertip_min_top_clearance": 0.015016508675305162,
+            "object_projection_between_fingers": 0.833787220593367,
+            "object_to_finger_line_xy": 0.009594448556827315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048693531162398565,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.632731244551155,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2614201961237715,
+              -0.3485621980435469,
+              0.8515395771204252
+            ],
+            "target_position": [
+              0.25388896373518993,
+              -0.34867155517064613,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007532026305853375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18386610476146575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771204252,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513381432135205,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541048662345972,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527869861675975,
+            "release_required_pad_clearance": 0.05270524331172986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46478009282796334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007268428802490234,
+            "max_z_decrease": 0.007268428802490234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511807927215851,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007268428802490234,
+            "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": 0.021107948149251543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007268428802490234,
+            "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": 0.00726845055540864,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10958889126777648,
+              -0.40493300557136536,
+              0.7768088579177856
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+            "button_final": [
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+              -0.40493300557136536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11044150871041941,
+              -0.4033108194473992,
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+            "closest_button": [
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+              -0.40492770075798035,
+              0.772709846496582
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+            "closest_ee_minus_button": [
+              0.000862906694447288,
+              0.0016168813105811308,
+              0.03507022353264633
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+            "button_min_z_position": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "372621a0797ac7a8feaa222b38eb19466ad3496099ba3d342ad7110a6f31fb57",
+    "visual_seed": 6242530282349417871,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ee0be18fe985a462315937c81a0aa0804185130
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_28_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30138033855219704,
+              -0.11079550444805356,
+              1.1644159458711507
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+            "current_z": 1.1644159458711507,
+            "required_z": 0.8611064484101212,
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+            "lift_margin": 0.30330949746102953,
+            "gripper_z": 1.1556866089385867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2971688417154408,
+              -0.11529463776410641,
+              1.1556866089385867
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+              0.004211496836756257,
+              0.004499133316052853,
+              0.008729336932564058
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+            "object_to_gripper_xy": 0.006162702832493605,
+            "object_to_gripper_z": 0.008729336932564058,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30138033855219704,
+              -0.13422903714197187,
+              1.1644159458711507
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+            "finger_b": [
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+              -0.11079550444805356,
+              1.1644159458711507
+            ],
+            "finger_midpoint": [
+              0.2961281800519072,
+              -0.12251227079501271,
+              1.1644159458711507
+            ],
+            "object_minus_finger_midpoint": [
+              0.005252158500289816,
+              0.01171676634695916,
+              0.0
+            ],
+            "finger_gap": 0.02568016997929733,
+            "fingertip_max_gap": 0.09227257766730848,
+            "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": 0.015025064202990834,
+            "object_projection_between_fingers": 0.8326830840631995,
+            "object_to_finger_line_xy": 0.009585343713020838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863628883365424,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4759957056427055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2659469412828098,
+              -0.3435165190588364,
+              0.8515395625602626
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+            "target_position": [
+              0.25878134500981875,
+              -0.34374564892915793,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071692587095861645,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18240027934437425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625602626,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565519651680204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605473947550994,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499524324461671,
+            "release_required_pad_clearance": 0.05302736973775497,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0864130590077894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007179617881774902,
+            "max_z_decrease": 0.007179617881774902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511219623844643,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007179617881774902,
+            "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": 0.021106583464730915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007179617881774902,
+            "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": 0.007179638990684883,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4000070989131927,
+              0.7768088579177856
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+            "button_final": [
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+              -0.4000070989131927,
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+            "closest_ee": [
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+            "closest_button": [
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+            "closest_ee_minus_button": [
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+            "release_min_pad_clearance": 0.1342928943568781,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c2c15aed00b93b7327fe4590ae9f77645199cbc1cdba07da310cc78da2b3ce8",
+    "visual_seed": 7267759787755086957,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf5ba8d631f4ba0fa41d1cdbf7a21615dba3713
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3073910826144979,
+              -0.1079501774233601,
+              1.1633613887132088
+            ],
+            "current_z": 1.1633613887132088,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3022549999077325,
+            "gripper_z": 1.1547173911760458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3029709390292157,
+              -0.11244727546528925,
+              1.1547173911760458
+            ],
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+              0.004420143585282199,
+              0.004497098041929146,
+              0.00864399753716305
+            ],
+            "object_to_gripper_xy": 0.0063056768164277445,
+            "object_to_gripper_z": 0.00864399753716305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3073910826144979,
+              -0.13174307799193236,
+              1.1633613887132088
+            ],
+            "finger_b": [
+              0.2971463195796631,
+              -0.1079501774233601,
+              1.1633613887132088
+            ],
+            "finger_midpoint": [
+              0.3022687010970805,
+              -0.11984662770764623,
+              1.1633613887132088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005122381517417396,
+              0.011896450284286125,
+              0.0
+            ],
+            "finger_gap": 0.025904773442473553,
+            "fingertip_max_gap": 0.09211874970887637,
+            "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": 1.1633613887132088,
+            "object_top_z": 1.2134096220566195,
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+            "fingertip_min_top_clearance": 0.015014470003023172,
+            "object_projection_between_fingers": 0.843597302858352,
+            "object_to_finger_line_xy": 0.009409564178498142,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855937485443819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4405351714156946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2631906457457269,
+              -0.3519586136661907,
+              0.8515395419578806
+            ],
+            "target_position": [
+              0.2564253045398378,
+              -0.35172985786144995,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006769207549654821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574286009607943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395419578806,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561455096430598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727458190946892,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323546420471665,
+            "release_required_pad_clearance": 0.05363729095473446,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.284534219361725,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007500588893890381,
+            "max_z_decrease": 0.007500588893890381,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511767975421848,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007500588893890381,
+            "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": 0.02127448912413146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1350351794525849,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "327c2b5ca665b15773ca27bb55e4a6ca9f95b209e9b728db43f7deabe422a6b5",
+    "visual_seed": 6560136102543281825,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf51ad41d13ecb51d96f8af18babaad7f88fb3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30623545096255717,
+              -0.11218255279140847,
+              1.1632709548081595
+            ],
+            "current_z": 1.1632709548081595,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3021645063980384,
+            "gripper_z": 1.1546680008658612,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018708569514369,
+              -0.11659714197725132,
+              1.1546680008658612
+            ],
+            "object_minus_gripper": [
+              0.004364594011120271,
+              0.0044145891858428515,
+              0.008602953942298264
+            ],
+            "object_to_gripper_xy": 0.006207920631070244,
+            "object_to_gripper_z": 0.008602953942298264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30623545096255717,
+              -0.13584997306699959,
+              1.1632709548081595
+            ],
+            "finger_b": [
+              0.296004270238742,
+              -0.11218255279140847,
+              1.1632709548081595
+            ],
+            "finger_midpoint": [
+              0.30111986060064955,
+              -0.12401626292920404,
+              1.1632709548081595
+            ],
+            "object_minus_finger_midpoint": [
+              0.005115590361907618,
+              0.011833710137795564,
+              0.0
+            ],
+            "finger_gap": 0.025784178123508777,
+            "fingertip_max_gap": 0.09250861381480982,
+            "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": 1.1632709548081595,
+            "object_top_z": 1.2133243444385926,
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+            "fingertip_min_top_clearance": 0.015016016889129945,
+            "object_projection_between_fingers": 0.8425491799956651,
+            "object_to_finger_line_xy": 0.009391249662725682,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875430690740491,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9143572503106177,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.257411412843333,
+              -0.35090438507172905,
+              0.851539598264787
+            ],
+            "target_position": [
+              0.25036454611872067,
+              -0.35085119827807193,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070470674375564465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1838685382147526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539598264787,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570570368880267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681252622898315,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15129019684035286,
+            "release_required_pad_clearance": 0.05340626311449158,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8272909637053232,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007389843463897705,
+            "max_z_decrease": 0.007389843463897705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506773987459751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007389843463897705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670304700945,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13801182973399867,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c96341715a128d3d985ec117a95b23307f653c91f3c4b5471620ec5dade65a7e",
+    "visual_seed": 8310251877943581647,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35366a8da883e90f1017e76a370268513876ccde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_32_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.30829739072705903,
+              -0.1145192369434169,
+              1.1643458721313125
+            ],
+            "current_z": 1.1643458721313125,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30323924490725696,
+            "gripper_z": 1.1555733394632692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30396310021675454,
+              -0.11905121851503336,
+              1.1555733394632692
+            ],
+            "object_minus_gripper": [
+              0.004334290510304484,
+              0.004531981571616467,
+              0.008772532668043231
+            ],
+            "object_to_gripper_xy": 0.006270959351900375,
+            "object_to_gripper_z": 0.008772532668043231,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30829739072705903,
+              -0.1381295824848928,
+              1.1643458721313125
+            ],
+            "finger_b": [
+              0.2978285209453819,
+              -0.1145192369434169,
+              1.1643458721313125
+            ],
+            "finger_midpoint": [
+              0.30306295583622045,
+              -0.12632440971415484,
+              1.1643458721313125
+            ],
+            "object_minus_finger_midpoint": [
+              0.00523443489083858,
+              0.011805172770737948,
+              0.0
+            ],
+            "finger_gap": 0.025827226933869667,
+            "fingertip_max_gap": 0.09190495508530958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012913613466934846,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643458721313125,
+            "object_top_z": 1.214363540602975,
+            "finger_top_clearance": 0.050017668471662446,
+            "fingertip_min_top_clearance": 0.015005300541498767,
+            "object_projection_between_fingers": 0.8356975503460216,
+            "object_to_finger_line_xy": 0.009570273789245614,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845247754265479,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2292651909889243,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26359787797312806,
+              -0.34632084353024495,
+              0.8515395617398116
+            ],
+            "target_position": [
+              0.2569342078563053,
+              -0.34633359827521154,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006663682323562262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382793253254184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395617398116,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590881832458327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744816693896725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1507132051693873,
+            "release_required_pad_clearance": 0.053724083469483624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4575202904765705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007251858711242676,
+            "max_z_decrease": 0.007251858711242676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035127573356939,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
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+            "target": "rod_rack",
+            "object_position": [
+              0.25284999009651926,
+              0.15710144975161883,
+              0.8323120770137902
+            ],
+            "target_position": [
+              0.266701973093888,
+              0.2034378680120183,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048362600117881106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16686801365460247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323120770137902,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676113985472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13620164767759305,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff7bc4c20ab6765ab2f5035d8da55f527057e0a75318ad4ee213cfd4f8657677",
+    "visual_seed": 2710171006320243086,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0acaea680b3074d05a0215bfdec4b7048996978
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30631282738419296,
+              -0.10853743697734101,
+              1.1652954804551179
+            ],
+            "current_z": 1.1652954804551179,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30418909164964125,
+            "gripper_z": 1.1564883571071125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30190479804863934,
+              -0.1129871080722564,
+              1.1564883571071125
+            ],
+            "object_minus_gripper": [
+              0.00440802933555362,
+              0.004449671094915383,
+              0.008807123348005375
+            ],
+            "object_to_gripper_xy": 0.006263409253435924,
+            "object_to_gripper_z": 0.008807123348005375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30631282738419296,
+              -0.13228243578561605,
+              1.1652954804551179
+            ],
+            "finger_b": [
+              0.2961097065257233,
+              -0.10853743697734101,
+              1.1652954804551179
+            ],
+            "finger_midpoint": [
+              0.30121126695495815,
+              -0.12040993638147854,
+              1.1652954804551179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005101560429234819,
+              0.011872499404137524,
+              0.0
+            ],
+            "finger_gap": 0.025844315499883547,
+            "fingertip_max_gap": 0.09202538846174493,
+            "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": 1.1652954804551179,
+            "object_top_z": 1.2154404406009158,
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+            "fingertip_min_top_clearance": 0.015043488043739416,
+            "object_projection_between_fingers": 0.8441395256198696,
+            "object_to_finger_line_xy": 0.009374328084879605,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851269423087247,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5189143860530545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2627818139072905,
+              -0.34909419096313765,
+              0.8515395879694015
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+            "target_position": [
+              0.2559032954275464,
+              -0.34873307278165055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006887991203332168,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840710762895332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395879694015,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532719941934952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563766423925011,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221725721357504,
+            "release_required_pad_clearance": 0.052818832119625056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6829933056504619,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
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+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25559963816781794,
+              0.157183285611467,
+              0.8313485790365374
+            ],
+            "target_position": [
+              0.27279591470241765,
+              0.20265893563498738,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04861837792148289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1657156037109066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313485790365374,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675913086238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13618155173354726,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5786f5edd3953d27d184a5eb240f6d83e1a401a03fbf86f7801ffc34beb2533",
+    "visual_seed": 8368506615802742312,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..799331ea9ff1e06900fc5cf31cd2ac8b3b4d7ff9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3052606210077419,
+              -0.11202224146540103,
+              1.1643998274868195
+            ],
+            "current_z": 1.1643998274868195,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3032933790766984,
+            "gripper_z": 1.155681514973844,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3009928817926431,
+              -0.1165376898224585,
+              1.155681514973844
+            ],
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+              0.004267739215098765,
+              0.004515448357057472,
+              0.008718312512975501
+            ],
+            "object_to_gripper_xy": 0.0062131209446899425,
+            "object_to_gripper_z": 0.008718312512975501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052606210077419,
+              -0.13544530743979008,
+              1.1643998274868195
+            ],
+            "finger_b": [
+              0.2946639387526711,
+              -0.11202224146540103,
+              1.1643998274868195
+            ],
+            "finger_midpoint": [
+              0.2999622798802065,
+              -0.12373377445259556,
+              1.1643998274868195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005298341127535355,
+              0.011711532987194531,
+              0.0
+            ],
+            "finger_gap": 0.02570855294363169,
+            "fingertip_max_gap": 0.09195301524056812,
+            "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": 1.1643998274868195,
+            "object_top_z": 1.2144314656764343,
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+            "object_projection_between_fingers": 0.8301034500992758,
+            "object_to_finger_line_xy": 0.00965463859884982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847650762028406,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2994059232473063,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26598198388255,
+              -0.3441550234454431,
+              0.8515395633916851
+            ],
+            "target_position": [
+              0.2578185844118278,
+              -0.3445999037710249,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008175512792643485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457942523791218,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633916851,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550762249128955,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596659036921854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524934497946751,
+            "release_required_pad_clearance": 0.05298329518460927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0009192583991335,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
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+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2593934861554164,
+              0.1588128600709756,
+              0.8328844343534619
+            ],
+            "target_position": [
+              0.2733225926892217,
+              0.20483741014262324,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04808616451878544,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1693073185116751,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328844343534619,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677273190055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13821876929704588,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9e2e16d7d640b495adf301597ef8b91f29dc17e08d13b2aff8f23288b2d1800",
+    "visual_seed": 2346846232017376595,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8700714e4e4d400ab7f744f426f4beaf893d7790
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3104487830212524,
+              -0.10754323191570099,
+              1.1631500848157095
+            ],
+            "current_z": 1.1631500848157095,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3020435768009436,
+            "gripper_z": 1.1544158799661277,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060211536992533,
+              -0.11207161584889296,
+              1.1544158799661277
+            ],
+            "object_minus_gripper": [
+              0.0044276293219990825,
+              0.004528383933191965,
+              0.008734204849581761
+            ],
+            "object_to_gripper_xy": 0.006333258439335725,
+            "object_to_gripper_z": 0.008734204849581761,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3104487830212524,
+              -0.1311701403171343,
+              1.1631500848157095
+            ],
+            "finger_b": [
+              0.29995459798400564,
+              -0.10754323191570099,
+              1.1631500848157095
+            ],
+            "finger_midpoint": [
+              0.305201690502629,
+              -0.11935668611641764,
+              1.1631500848157095
+            ],
+            "object_minus_finger_midpoint": [
+              0.005247092518623375,
+              0.011813454200716653,
+              0.0
+            ],
+            "finger_gap": 0.025852634685959844,
+            "fingertip_max_gap": 0.09214649942884476,
+            "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": 1.1631500848157095,
+            "object_top_z": 1.213245262928813,
+            "finger_top_clearance": 0.0500951781131036,
+            "fingertip_min_top_clearance": 0.015028553433931079,
+            "object_projection_between_fingers": 0.8352263294147181,
+            "object_to_finger_line_xy": 0.009590711029440105,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857324971442238,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6652970943872425,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26634056973561887,
+              -0.35247222906992337,
+              0.8515395973375713
+            ],
+            "target_position": [
+              0.2591739212631806,
+              -0.3525221314679308,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071668222090985655,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841458193851719,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395973375713,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541975849097571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640798730837136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214582245144173,
+            "release_required_pad_clearance": 0.05320399365418568,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4303696626184979,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
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+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25156225394035175,
+              0.15467105885156401,
+              0.8333806589674738
+            ],
+            "target_position": [
+              0.26512389070875664,
+              0.20055414907840008,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04784533373906102,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16815687398452572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333806589674738,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675273490313,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13690078828257352,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2b9d97cb3ff7d67f25f956a900fa611727f9ebe0e909c788f108597cfb44b1c",
+    "visual_seed": 4014519973972168429,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b11102c3cb842d981e29834c0b86cead49dfc14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3043836169549564,
+              -0.11427422439742248,
+              1.1665574135109171
+            ],
+            "current_z": 1.1665574135109171,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30545096510079583,
+            "gripper_z": 1.1576608879982029,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3002847720088686,
+              -0.11851955639402041,
+              1.1576608879982029
+            ],
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+              0.00409884494608781,
+              0.004245331996597934,
+              0.008896525512714248
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+            "object_to_gripper_xy": 0.005901133251622758,
+            "object_to_gripper_z": 0.008896525512714248,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3043836169549564,
+              -0.13780710028462445,
+              1.1665574135109171
+            ],
+            "finger_b": [
+              0.29447421570162025,
+              -0.11427422439742248,
+              1.1665574135109171
+            ],
+            "finger_midpoint": [
+              0.29942891632828833,
+              -0.12604066234102346,
+              1.1665574135109171
+            ],
+            "object_minus_finger_midpoint": [
+              0.004954700626668085,
+              0.01176643794360098,
+              0.0
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+            "finger_gap": 0.025534143430357568,
+            "fingertip_max_gap": 0.092681340635163,
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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": 1.1665574135109171,
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+            "object_projection_between_fingers": 0.8493905434448117,
+            "object_to_finger_line_xy": 0.009132740655556724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048840670317581505,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.013503651233698,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "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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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26273470523559705,
+              -0.3524417587873436,
+              0.8515395721371966
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+            "target_position": [
+              0.25621504559437475,
+              -0.35222933809448354,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006523119222284546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18253145420528208,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395721371966,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557782722204184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877826285383758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15018504437134328,
+            "release_required_pad_clearance": 0.053891314269187904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7923939874715415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.257077579488208,
+              0.15602628476695662,
+              0.831759994251749
+            ],
+            "target_position": [
+              0.2732230574816241,
+              0.20157885668981612,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048329217544081676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16421390342380823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831759994251749,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672490979869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13404637179807102,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 332,
+            "max_placed_release_frames": 332
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a363ab09f86738b53f979a2cdf7abd3b4490b906eefd4c0b57ed4e1de4df16d7",
+    "visual_seed": 698104729982104897,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb9fa0095649cc4dd052b7a4bccf615098b85fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30371133756757285,
+              -0.10944911740058522,
+              1.164485882362783
+            ],
+            "current_z": 1.164485882362783,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30337949355730665,
+            "gripper_z": 1.1556267234863271,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29953604049129146,
+              -0.11378190414972075,
+              1.1556267234863271
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+              0.004175297076281392,
+              0.0043327867491355365,
+              0.008859158876455941
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+            "object_to_gripper_xy": 0.006017154368028831,
+            "object_to_gripper_z": 0.008859158876455941,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30371133756757285,
+              -0.13297474120959257,
+              1.164485882362783
+            ],
+            "finger_b": [
+              0.2935840967786546,
+              -0.10944911740058522,
+              1.164485882362783
+            ],
+            "finger_midpoint": [
+              0.2986477171731137,
+              -0.1212119293050889,
+              1.164485882362783
+            ],
+            "object_minus_finger_midpoint": [
+              0.005063620394459123,
+              0.011762811904503678,
+              0.0
+            ],
+            "finger_gap": 0.025612808936148788,
+            "fingertip_max_gap": 0.09246880450667674,
+            "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": 1.164485882362783,
+            "object_top_z": 1.214540113569566,
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+            "fingertip_min_top_clearance": 0.015016269362034861,
+            "object_projection_between_fingers": 0.8436608118194936,
+            "object_to_finger_line_xy": 0.009301972993952677,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048734402253338374,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7929166350930765,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2644436053129013,
+              -0.34528753964808423,
+              0.8515395728055306
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+            "target_position": [
+              0.2572056324273558,
+              -0.34552849249322587,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007241982447194539,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18357205520033995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728055306,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559199068391205,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660079162955438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513956269075276,
+            "release_required_pad_clearance": 0.05330039581477719,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6192678639229232,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            0.2623471709803765,
+            -0.34591353070933833,
+            1.0436534020535522
+          ],
+          "center_minus_frame": [
+            -2.5451603984982807e-05,
+            -1.877002410388684e-06,
+            -0.0003142867819629913
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25809074293454287,
+              0.15524204989487497,
+              0.8322663747484306
+            ],
+            "target_position": [
+              0.27338134798190783,
+              0.2013653619601084,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04859179476600355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16794484704502516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322663747484306,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567073128585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13837177939721557,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7bf7d82553dac7108fc44edceda401253996ab51044752a095aa60ec23a6354",
+    "visual_seed": 8961017113880453442,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..930f704fd328c6730d9369696b23ac9d2b155f6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30155951454619556,
+              -0.1094142151008933,
+              1.166946759298103
+            ],
+            "current_z": 1.166946759298103,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3058403108879819,
+            "gripper_z": 1.1583144062911206,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2970754831050626,
+              -0.114099630443785,
+              1.1583144062911206
+            ],
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+              0.004484031441132963,
+              0.0046854153428916995,
+              0.008632353006982507
+            ],
+            "object_to_gripper_xy": 0.006485341540772844,
+            "object_to_gripper_z": 0.008632353006982507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30155951454619556,
+              -0.1329554313432898,
+              1.166946759298103
+            ],
+            "finger_b": [
+              0.29069812297615105,
+              -0.1094142151008933,
+              1.166946759298103
+            ],
+            "finger_midpoint": [
+              0.2961288187611733,
+              -0.12118482322209155,
+              1.166946759298103
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430695785022255,
+              0.011770608121198248,
+              0.0
+            ],
+            "finger_gap": 0.025926023393669662,
+            "fingertip_max_gap": 0.09188634976006868,
+            "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": 1.166946759298103,
+            "object_top_z": 1.2171205001929926,
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+            "object_projection_between_fingers": 0.8244911078784913,
+            "object_to_finger_line_xy": 0.009862305674930145,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844317488003434,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9955924249435384,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2631888980697665,
+              -0.34245803311662526,
+              0.8515395539251511
+            ],
+            "target_position": [
+              0.2550785189926977,
+              -0.34302932493846905,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008130474962722713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18393170400238035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395539251511,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537022818506976,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853962608824154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221071351299906,
+            "release_required_pad_clearance": 0.052698130441207705,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4511070689153262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+          ],
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+            0.26445296580215294,
+            -0.34448545602988906,
+            1.0433699441895485
+          ],
+          "frame_world": [
+            0.2644784117196012,
+            -0.3444831840305601,
+            1.0436829267371541
+          ],
+          "center_minus_frame": [
+            -2.5445917448241318e-05,
+            -2.2719993289510576e-06,
+            -0.0003129825476055892
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24954869616601988,
+              0.16090245857613847,
+              0.8350615432555838
+            ],
+            "target_position": [
+              0.26549551537635996,
+              0.2048584695191678,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04675929790908955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16350384676168983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8350615432555838,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673502783026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13335995289947616,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 343,
+            "max_placed_release_frames": 343
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66d2ad558439fcabc9ef2bfc36c6da15170a75aebb5cb6a5ce24f7c42826aba4",
+    "visual_seed": 1093323288160358100,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9129220ce8a2401df9060ea336bddb23f0b93f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3039898253109674,
+              -0.11053342708034014,
+              1.1662582025658077
+            ],
+            "current_z": 1.1662582025658077,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3051517541556866,
+            "gripper_z": 1.1575505469425886,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2996469324121147,
+              -0.11493331945462316,
+              1.1575505469425886
+            ],
+            "object_minus_gripper": [
+              0.004342892898852702,
+              0.004399892374283024,
+              0.008707655623219068
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+            "object_to_gripper_xy": 0.0061822141370369175,
+            "object_to_gripper_z": 0.008707655623219068,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3039898253109674,
+              -0.13424355762840826,
+              1.1662582025658077
+            ],
+            "finger_b": [
+              0.2938479948134415,
+              -0.11053342708034014,
+              1.1662582025658077
+            ],
+            "finger_midpoint": [
+              0.29891891006220445,
+              -0.1223884923543742,
+              1.1662582025658077
+            ],
+            "object_minus_finger_midpoint": [
+              0.005070915248762964,
+              0.011855065274034057,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09223929132105005,
+            "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": 0.8453345152952181,
+            "object_to_finger_line_xy": 0.009324609401110148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861964566052503,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.687395641361933,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26442769239521857,
+              -0.3481093475094311,
+              0.8515395574099069
+            ],
+            "target_position": [
+              0.2574105444578841,
+              -0.3480166483367609,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007017760206152061,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18406868849490562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395574099069,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751795925594548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557528327643664,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281542719034086,
+            "release_required_pad_clearance": 0.05278764163821832,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6230659996663976,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2621867191592613,
+            -0.3481684182038006,
+            1.0433728162869884
+          ],
+          "object_origin_world": [
+            0.2621867191592613,
+            -0.3481684182038006,
+            1.0433728162869884
+          ],
+          "frame_world": [
+            0.26221216755199206,
+            -0.3481659986814936,
+            1.043685934627785
+          ],
+          "center_minus_frame": [
+            -2.5448392730775815e-05,
+            -2.419522307006705e-06,
+            -0.00031311834079650325
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25692202078880594,
+              0.15552859709925237,
+              0.8326532106431769
+            ],
+            "target_position": [
+              0.2717169093083575,
+              0.2010964055931258,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04790943432394378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16543404251401642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326532106431769,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674284109113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13486512360190733,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c468e96310aa0383eb7ffaf3819b0003aae08d4bdc2bace834e65c2bea3b9562",
+    "visual_seed": 7331788202088707859,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9006ff6ab2994373a99ba105d89e44d92505c73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_44_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3066478213725768,
+              -0.1056400892035068,
+              1.16712306206648
+            ],
+            "current_z": 1.16712306206648,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3060166136563587,
+            "gripper_z": 1.1584706538895884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30232580647279883,
+              -0.11018614665816517,
+              1.1584706538895884
+            ],
+            "object_minus_gripper": [
+              0.0043220148997779595,
+              0.004546057454658373,
+              0.008652408176891724
+            ],
+            "object_to_gripper_xy": 0.006272674961685616,
+            "object_to_gripper_z": 0.008652408176891724,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3066478213725768,
+              -0.12911958653093036,
+              1.16712306206648
+            ],
+            "finger_b": [
+              0.296004608389623,
+              -0.1056400892035068,
+              1.16712306206648
+            ],
+            "finger_midpoint": [
+              0.3013262148810999,
+              -0.11737983786721859,
+              1.16712306206648
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053216064914768935,
+              0.011739748663711788,
+              0.0
+            ],
+            "finger_gap": 0.025779153930046,
+            "fingertip_max_gap": 0.09234189118196393,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012889576965023007,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16712306206648,
+            "object_top_z": 1.217150572795215,
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+            "object_projection_between_fingers": 0.8295456117123909,
+            "object_to_finger_line_xy": 0.009693773948772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048670945590981965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6209304684581887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2652249295537641,
+              -0.35082642561633837,
+              0.8515395579027897
+            ],
+            "target_position": [
+              0.2578546896585834,
+              -0.35114727952431984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007377220570294772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18267547708023987,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579027897,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753510858217917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596418965348394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15103301533310362,
+            "release_required_pad_clearance": 0.052982094826741974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9985705830656092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26662590597171143,
+            -0.3513427093151191,
+            1.0433466218072025
+          ],
+          "object_origin_world": [
+            0.26662590597171143,
+            -0.3513427093151191,
+            1.0433466218072025
+          ],
+          "frame_world": [
+            0.26662446564597464,
+            -0.3513475775756318,
+            1.043237850704227
+          ],
+          "center_minus_frame": [
+            1.4403257367900935e-06,
+            4.868260512713718e-06,
+            0.00010877110297546899
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.257423852330045,
+              0.15523128511894793,
+              0.8320430644567873
+            ],
+            "target_position": [
+              0.2737576433418288,
+              0.20016159176108633,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780716665703182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16660443110437873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320430644567873,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673652936655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13706380791681197,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c70e6ab7d810dfec4c73d729f4045c72cd664d3622b1868454678144b697e6e",
+    "visual_seed": 4491018821295407739,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..362b0012715bfacac10d1ed3a7cd57ad595b7516
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3032834506388359,
+              -0.10814754673734023,
+              1.1648914522905898
+            ],
+            "current_z": 1.1648914522905898,
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+            "lift_margin": 0.3037849442758237,
+            "gripper_z": 1.1561535272388639,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2989198624294216,
+              -0.11261013961150827,
+              1.1561535272388639
+            ],
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+              0.004363588209414293,
+              0.004462592874168045,
+              0.008737925051725881
+            ],
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+            "object_to_gripper_z": 0.008737925051725881,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3032834506388359,
+              -0.13186716278976582,
+              1.1648914522905898
+            ],
+            "finger_b": [
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+              -0.10814754673734023,
+              1.1648914522905898
+            ],
+            "finger_midpoint": [
+              0.2981622093587431,
+              -0.12000735476355302,
+              1.1648914522905898
+            ],
+            "object_minus_finger_midpoint": [
+              0.005121241280092781,
+              0.011859808026212795,
+              0.0
+            ],
+            "finger_gap": 0.02583657552134553,
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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": 1.1648914522905898,
+            "object_top_z": 1.2149085408886506,
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+            "object_projection_between_fingers": 0.842840526163289,
+            "object_to_finger_line_xy": 0.009403249031612135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860136961014862,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5744998659556488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.25702256289076575,
+              -0.34557574947899344,
+              0.851539559678645
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+            "target_position": [
+              0.25031702804638684,
+              -0.3453237593648558,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006710267995155099,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18270384214651209,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539559678645,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567087709464268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712464579952299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15019821935887906,
+            "release_required_pad_clearance": 0.0535623228997615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.135790929624408,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2556087963086076,
+            -0.34744949275938614,
+            1.0434537452696135
+          ],
+          "object_origin_world": [
+            0.2556087963086076,
+            -0.34744949275938614,
+            1.0434537452696135
+          ],
+          "frame_world": [
+            0.2556075214896587,
+            -0.347452969520345,
+            1.043349822556248
+          ],
+          "center_minus_frame": [
+            1.2748189489042439e-06,
+            3.476760958853742e-06,
+            0.00010392271336545633
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2492672687114036,
+              0.1592935068850089,
+              0.8349152119795037
+            ],
+            "target_position": [
+              0.2647130329179168,
+              0.20371952725542547,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047034486474031724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16231936850320827,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8349152119795037,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674625319023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13138135875113455,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5a3eb8e54a96ebfc6a720966b1fbe59bcb805a84be937fc79817bd81e3e4d99",
+    "visual_seed": 6140911363857434851,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88aaeef5675a63ff130a46abb63077c878536f1d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30496148219207214,
+              -0.11191407815015132,
+              1.1658046505629396
+            ],
+            "current_z": 1.1658046505629396,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30469808294352874,
+            "gripper_z": 1.1569225641165821,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3007901647246472,
+              -0.1164357671689096,
+              1.1569225641165821
+            ],
+            "object_minus_gripper": [
+              0.00417131746742494,
+              0.004521689018758282,
+              0.008882086446357462
+            ],
+            "object_to_gripper_xy": 0.0061518745920575825,
+            "object_to_gripper_z": 0.008882086446357462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30496148219207214,
+              -0.13524091505495361,
+              1.1658046505629396
+            ],
+            "finger_b": [
+              0.29432203949366553,
+              -0.11191407815015132,
+              1.1658046505629396
+            ],
+            "finger_midpoint": [
+              0.29964176084286887,
+              -0.12357749660255246,
+              1.1658046505629396
+            ],
+            "object_minus_finger_midpoint": [
+              0.005319721349203277,
+              0.01166341845240114,
+              0.0
+            ],
+            "finger_gap": 0.025638624395936768,
+            "fingertip_max_gap": 0.0919995205929657,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.215858228226038,
+            "finger_top_clearance": 0.05005357766309837,
+            "fingertip_min_top_clearance": 0.015016073298929476,
+            "object_projection_between_fingers": 0.8277939838613119,
+            "object_to_finger_line_xy": 0.00968010376652862,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048499760296482855,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2984891549475257,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2668932155508174,
+              -0.34479756465016087,
+              0.8515395548728945
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+            "target_position": [
+              0.2593074341051916,
+              -0.3453532522117605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00760610733601082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18192133067979216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395548728945,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566020430992192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566453508920431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14953028212301211,
+            "release_required_pad_clearance": 0.05283226754460216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7088606684646451,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2672956957284536,
+            -0.3456491082425111,
+            1.0433980809036798
+          ],
+          "object_origin_world": [
+            0.2672956957284536,
+            -0.3456491082425111,
+            1.0433980809036798
+          ],
+          "frame_world": [
+            0.2672942230249077,
+            -0.3456533796546315,
+            1.0432898272364848
+          ],
+          "center_minus_frame": [
+            1.4727035458905746e-06,
+            4.271412120393503e-06,
+            0.00010825366719502405
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25636879811777263,
+              0.15479407908088696,
+              0.8328276243367226
+            ],
+            "target_position": [
+              0.270492001483055,
+              0.20045936903113276,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047799409824151005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16757129374670376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328276243367226,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567605064871,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365381707576028,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bba4f7a76503caf01b85077c0bfdaaeb19a71f20eaa19590bb4e2e2312f6145",
+    "visual_seed": 5073816814888889072,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4227c0995dda1853bc726944e3578605ecd8855
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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": [
+              0.3052644925740504,
+              -0.10552407682972097,
+              1.1639301949734198
+            ],
+            "current_z": 1.1639301949734198,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30282362735400914,
+            "gripper_z": 1.1553799217054148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008804892228831,
+              -0.10991559733000017,
+              1.1553799217054148
+            ],
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+              0.004384003351167343,
+              0.004391520500279203,
+              0.008550273268004949
+            ],
+            "object_to_gripper_xy": 0.006205234700429871,
+            "object_to_gripper_z": 0.008550273268004949,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052644925740504,
+              -0.1293908023036716,
+              1.1639301949734198
+            ],
+            "finger_b": [
+              0.2953087433344067,
+              -0.10552407682972097,
+              1.1639301949734198
+            ],
+            "finger_midpoint": [
+              0.30028661795422856,
+              -0.11745743956669627,
+              1.1639301949734198
+            ],
+            "object_minus_finger_midpoint": [
+              0.004977874619821854,
+              0.011933362736975303,
+              0.0
+            ],
+            "finger_gap": 0.02585995993368106,
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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": 1.1639301949734198,
+            "object_top_z": 1.2139846826637313,
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+            "object_projection_between_fingers": 0.8517849846815834,
+            "object_to_finger_line_xy": 0.009188379819591105,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048874248892184655,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.058894158274159,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2652924486662051,
+              -0.3464141213341918,
+              0.8515395613296803
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+            "target_position": [
+              0.25839344213867615,
+              -0.34645873046687226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00689915074785336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185104145668176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395613296803,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585993867690317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08911702344774904,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15207163750472485,
+            "release_required_pad_clearance": 0.05455851172387452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.15225729957929,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26590047678999723,
+            -0.34592092051825934,
+            1.0433996139105557
+          ],
+          "object_origin_world": [
+            0.26590047678999723,
+            -0.34592092051825934,
+            1.0433996139105557
+          ],
+          "frame_world": [
+            0.2658990038721998,
+            -0.3459251830605406,
+            1.0432921161826503
+          ],
+          "center_minus_frame": [
+            1.4729177974515117e-06,
+            4.262542281252557e-06,
+            0.00010749772790541456
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25741066950352137,
+              0.16146541290821867,
+              0.8321010838894841
+            ],
+            "target_position": [
+              0.2731425059945565,
+              0.20718442059424397,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04834995701317121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16587523991516884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321010838894841,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676322310126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13471769548655568,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9a50c9bea050bfd5c281a025360f66212ee8b94d753c18c2507e18664911f25",
+    "visual_seed": 7005360796262774170,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06694389710110fb420593e99c7b1593ef9ef977
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3040546060598749,
+              -0.11015819578050107,
+              1.1656018556066345
+            ],
+            "current_z": 1.1656018556066345,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30449540719651313,
+            "gripper_z": 1.1568149069227271,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998855750512527,
+              -0.11469420443768057,
+              1.1568149069227271
+            ],
+            "object_minus_gripper": [
+              0.004169031008622204,
+              0.004536008657179499,
+              0.008786948683907392
+            ],
+            "object_to_gripper_xy": 0.006160859849798633,
+            "object_to_gripper_z": 0.008786948683907392,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3040546060598749,
+              -0.13350963052915407,
+              1.1656018556066345
+            ],
+            "finger_b": [
+              0.29342984027011587,
+              -0.11015819578050107,
+              1.1656018556066345
+            ],
+            "finger_midpoint": [
+              0.2987422231649954,
+              -0.12183391315482757,
+              1.1656018556066345
+            ],
+            "object_minus_finger_midpoint": [
+              0.005312382894879508,
+              0.011675717374326502,
+              0.0
+            ],
+            "finger_gap": 0.02565492453521999,
+            "fingertip_max_gap": 0.0922954970375863,
+            "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": 1.1656018556066345,
+            "object_top_z": 1.2157181850662528,
+            "finger_top_clearance": 0.0501163294596183,
+            "fingertip_min_top_clearance": 0.015034898837885523,
+            "object_projection_between_fingers": 0.828486919342819,
+            "object_to_finger_line_xy": 0.009670795356216037,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864774851879315,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4507706887435292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26236936826825175,
+              -0.3506938407125141,
+              0.8515395538076144
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+            "target_position": [
+              0.2545343284779863,
+              -0.3512884216265698,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007857568006603713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18612269447553723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395538076144,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570360222227408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605700114802121,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354917572074875,
+            "release_required_pad_clearance": 0.05302850057401061,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0885722281842827,
+            "object_max_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",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2619329384779994,
+            -0.3501292780655937,
+            1.043401292382778
+          ],
+          "object_origin_world": [
+            0.2619329384779994,
+            -0.3501292780655937,
+            1.043401292382778
+          ],
+          "frame_world": [
+            0.2619316168809017,
+            -0.3501333994644003,
+            1.0432941321710951
+          ],
+          "center_minus_frame": [
+            1.3215970977031866e-06,
+            4.121398806622434e-06,
+            0.00010716021168288847
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2540782249430615,
+              0.1639627246259402,
+              0.832679080224501
+            ],
+            "target_position": [
+              0.27103158114680087,
+              0.20867979383163715,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047822929279979914,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16429685247376408,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832679080224501,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567458310037,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13426644146326558,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec57ce1a2241167a4a90af74951fbcd96b2b4322cf45cd8eec860db06c11322e",
+    "visual_seed": 5784379538734911104,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..072d31ca302d5b2411f3848730a93cab4aafe03e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3057720827863999,
+              -0.111087730555567,
+              1.1637694996065577
+            ],
+            "current_z": 1.1637694996065577,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.302662872382502,
+            "gripper_z": 1.154925146182654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30155383367919913,
+              -0.11561135341337707,
+              1.154925146182654
+            ],
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+              0.0042182491072007555,
+              0.004523622857810064,
+              0.008844353423903772
+            ],
+            "object_to_gripper_xy": 0.006185207295645124,
+            "object_to_gripper_z": 0.008844353423903772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3057720827863999,
+              -0.13454192293849146,
+              1.1637694996065577
+            ],
+            "finger_b": [
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+              -0.111087730555567,
+              1.1637694996065577
+            ],
+            "finger_midpoint": [
+              0.3005054055802995,
+              -0.12281482674702923,
+              1.1637694996065577
+            ],
+            "object_minus_finger_midpoint": [
+              0.005266677206100412,
+              0.011727096191462227,
+              0.0
+            ],
+            "finger_gap": 0.025710906158831936,
+            "fingertip_max_gap": 0.091905753838849,
+            "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": 1.1637694996065577,
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+            "object_projection_between_fingers": 0.8321587800649339,
+            "object_to_finger_line_xy": 0.009608814224403359,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0484528769194245,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1465605621001607,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26592092256659117,
+              -0.3470646117774686,
+              0.8515395677764471
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+            "target_position": [
+              0.2581250595796278,
+              -0.347599007215768,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007814157548704842,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530011219558642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395677764471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578293461016117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671035533857917,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525792904102958,
+            "release_required_pad_clearance": 0.053355177669289586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7268685392078142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
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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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26498982684965744,
+            -0.34803652470377694,
+            1.0433236090484432
+          ],
+          "object_origin_world": [
+            0.26498982684965744,
+            -0.34803652470377694,
+            1.0433236090484432
+          ],
+          "frame_world": [
+            0.2650153841189502,
+            -0.34803370353303853,
+            1.0436372305908452
+          ],
+          "center_minus_frame": [
+            -2.555726929276414e-05,
+            -2.821170738409595e-06,
+            -0.00031362154240199835
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2536989870441048,
+              0.1595981658474711,
+              0.8333845764878117
+            ],
+            "target_position": [
+              0.2690061612641851,
+              0.20433157143503594,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047279881113064005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16403908479989698,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333845764878117,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674512541525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13326467162357292,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69fc7f4ce149180f27ed21f45492f76d36af344d76083e06aa5658ca04ebe427",
+    "visual_seed": 7462349448506639650,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a144150e939bd20a90712c5add1fbf847fe051
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.308009139735772,
+              -0.10776908802614431,
+              1.1639110554639793
+            ],
+            "current_z": 1.1639110554639793,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30280466665850303,
+            "gripper_z": 1.1552383089634006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3037297082412267,
+              -0.11229332826439566,
+              1.1552383089634006
+            ],
+            "object_minus_gripper": [
+              0.004279431494545294,
+              0.004524240238251348,
+              0.008672746500578699
+            ],
+            "object_to_gripper_xy": 0.006227542344289501,
+            "object_to_gripper_z": 0.008672746500578699,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.308009139735772,
+              -0.13127559360246488,
+              1.1639110554639793
+            ],
+            "finger_b": [
+              0.29749081456538945,
+              -0.10776908802614431,
+              1.1639110554639793
+            ],
+            "finger_midpoint": [
+              0.3027499771505807,
+              -0.1195223408143046,
+              1.1639110554639793
+            ],
+            "object_minus_finger_midpoint": [
+              0.005259162585191268,
+              0.011753252788160293,
+              0.0
+            ],
+            "finger_gap": 0.025752494418978,
+            "fingertip_max_gap": 0.09221709586821328,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012876247209489005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639110554639793,
+            "object_top_z": 1.2139895630090929,
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+            "fingertip_min_top_clearance": 0.015023552263534034,
+            "object_projection_between_fingers": 0.833177516590471,
+            "object_to_finger_line_xy": 0.009600975550117699,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860854793410664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.545501894684839,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26291529607502184,
+              -0.351019452581931,
+              0.851539563571823
+            ],
+            "target_position": [
+              0.2551530975722544,
+              -0.35125394425556455,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00776573962616366,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865309934404669,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539563571823,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754846590031703,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527330255579556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439711296636138,
+            "release_required_pad_clearance": 0.05263665127789778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2634059898446322,
+            -0.3503357202524032,
+            1.0434053448366865
+          ],
+          "object_origin_world": [
+            0.2634059898446322,
+            -0.3503357202524032,
+            1.0434053448366865
+          ],
+          "frame_world": [
+            0.2634045249571727,
+            -0.3503401780614351,
+            1.0432974189929682
+          ],
+          "center_minus_frame": [
+            1.4648874595013517e-06,
+            4.457809031854776e-06,
+            0.00010792584371821512
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25243902009378283,
+              0.15617176354185527,
+              0.832836712087093
+            ],
+            "target_position": [
+              0.26888211413716967,
+              0.20114985973920896,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047889502808632974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1625784804949415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832836712087093,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676444452062,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13272702080493895,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b628639d8f90f6cdb8dd3b33f4802289a502b1c82598677633aea242604eab82",
+    "visual_seed": 228379583254269744,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71fdb54433baf0cf3f243a3717a743fdee660c61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3089492663149661,
+              -0.11392171162441486,
+              1.1674024749128327
+            ],
+            "current_z": 1.1674024749128327,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3062959668980667,
+            "gripper_z": 1.158475426196595,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3047239868192184,
+              -0.11824510032036345,
+              1.158475426196595
+            ],
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+              0.004225279495747691,
+              0.004323388695948588,
+              0.008927048716237618
+            ],
+            "object_to_gripper_xy": 0.006045219320540976,
+            "object_to_gripper_z": 0.008927048716237618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3089492663149661,
+              -0.13753788531165376,
+              1.1674024749128327
+            ],
+            "finger_b": [
+              0.29890212947835193,
+              -0.11392171162441486,
+              1.1674024749128327
+            ],
+            "finger_midpoint": [
+              0.303925697896659,
+              -0.1257297984680343,
+              1.1674024749128327
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050235684183070894,
+              0.011808086843619447,
+              0.0
+            ],
+            "finger_gap": 0.025664540094057487,
+            "fingertip_max_gap": 0.09218647761083623,
+            "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": 1.1674024749128327,
+            "object_top_z": 1.217395978078943,
+            "finger_top_clearance": 0.04999350316611029,
+            "fingertip_min_top_clearance": 0.014998050949833051,
+            "object_projection_between_fingers": 0.8467439379707216,
+            "object_to_finger_line_xy": 0.00924524373798834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859323880541812,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7125950433486057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26483212093988284,
+              -0.3507103549575039,
+              0.8515395615099228
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+            "target_position": [
+              0.25789238035131434,
+              -0.350783908177379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006940130367131373,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846889711950368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395615099228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543135260087244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572592497447125,
+            "release_gap_margin": 0.02,
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+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26460649976529754,
+            -0.3522833204769282,
+            1.0433754101830939
+          ],
+          "object_origin_world": [
+            0.26460649976529754,
+            -0.3522833204769282,
+            1.0433754101830939
+          ],
+          "frame_world": [
+            0.2646050580012294,
+            -0.3522880397187895,
+            1.043266567473488
+          ],
+          "center_minus_frame": [
+            1.4417640681330113e-06,
+            4.719241861350643e-06,
+            0.00010884270960587195
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25391689035770915,
+              0.16290336327343238,
+              0.8322471121589002
+            ],
+            "target_position": [
+              0.2701135430442668,
+              0.20841539199240983,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04830813923518482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16644137560081837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322471121589002,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670217439836,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1355832449003057,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98af5d72ab65d08a10ae3b1d159c39174693f0c47d2b1ee81f858e8b5cad9bc2",
+    "visual_seed": 71869611589131059,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..554846fc4d02ecb52d032d2f4d87aa49368c098f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3077362873711407,
+              -0.11099161283871722,
+              1.1657783422798957
+            ],
+            "current_z": 1.1657783422798957,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3046718342651298,
+            "gripper_z": 1.1568346729740944,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035048539688573,
+              -0.11553187163297822,
+              1.1568346729740944
+            ],
+            "object_minus_gripper": [
+              0.0042314334022834355,
+              0.004540258794260996,
+              0.008943669305801372
+            ],
+            "object_to_gripper_xy": 0.006206365970261848,
+            "object_to_gripper_z": 0.008943669305801372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3077362873711407,
+              -0.1343524032205616,
+              1.1657783422798957
+            ],
+            "finger_b": [
+              0.2970475596172033,
+              -0.11099161283871722,
+              1.1657783422798957
+            ],
+            "finger_midpoint": [
+              0.302391923494172,
+              -0.12267200802963941,
+              1.1657783422798957
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053443638769687385,
+              0.011680395190922191,
+              0.0
+            ],
+            "finger_gap": 0.025689986926082018,
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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": 1.1657783422798957,
+            "object_top_z": 1.215807526102316,
+            "finger_top_clearance": 0.050029183822420276,
+            "fingertip_min_top_clearance": 0.015008755146726081,
+            "object_projection_between_fingers": 0.8268891596485449,
+            "object_to_finger_line_xy": 0.00971962847730477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833099833544728,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.031554393321958,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26600855937028367,
+              -0.3435848988641299,
+              0.851539628854471
+            ],
+            "target_position": [
+              0.25803855903029965,
+              -0.3440730758298358,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007984937205087538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18475346327237918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539628854471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26570548018494117,
+            -0.3419613304731141,
+            1.0433232572767277
+          ],
+          "object_origin_world": [
+            0.26570548018494117,
+            -0.3419613304731141,
+            1.0433232572767277
+          ],
+          "frame_world": [
+            0.26573099141227263,
+            -0.3419594381841729,
+            1.0436375843985144
+          ],
+          "center_minus_frame": [
+            -2.5511227331465047e-05,
+            -1.8922889412076316e-06,
+            -0.000314327121786695
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25430441580640684,
+              0.1638690136314297,
+              0.8321982676542266
+            ],
+            "target_position": [
+              0.26936472699011427,
+              0.2094197013098505,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04797580766310391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1656024602584671,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321982676542266,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673990086198,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13466092494330648,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 320,
+            "max_placed_release_frames": 320
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32eeb2df7c0e2981d32889a7566d23d49fb1193839b26e643c63d3e7e48bc36d",
+    "visual_seed": 3748611625290930737,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9af94c46cc726acadd79e29c3aef6b0c97a688
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "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": [
+              0.30934603435437236,
+              -0.11314839447242,
+              1.1647305792898286
+            ],
+            "current_z": 1.1647305792898286,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3036241308797072,
+            "gripper_z": 1.1560445999965365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30497729320141026,
+              -0.1175731241267273,
+              1.1560445999965365
+            ],
+            "object_minus_gripper": [
+              0.004368741152962097,
+              0.004424729654307291,
+              0.008685979293292068
+            ],
+            "object_to_gripper_xy": 0.006218048872057127,
+            "object_to_gripper_z": 0.008685979293292068,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30934603435437236,
+              -0.13685244280210668,
+              1.1647305792898286
+            ],
+            "finger_b": [
+              0.29913752821364586,
+              -0.11314839447242,
+              1.1647305792898286
+            ],
+            "finger_midpoint": [
+              0.30424178128400914,
+              -0.12500041863726336,
+              1.1647305792898286
+            ],
+            "object_minus_finger_midpoint": [
+              0.005104253070363218,
+              0.01185202416484335,
+              0.0
+            ],
+            "finger_gap": 0.025808826103512962,
+            "fingertip_max_gap": 0.09253975033081199,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012904413051756483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647305792898286,
+            "object_top_z": 1.2147918837138405,
+            "finger_top_clearance": 0.05006130442401191,
+            "fingertip_min_top_clearance": 0.015018391327203572,
+            "object_projection_between_fingers": 0.8435455623588564,
+            "object_to_finger_line_xy": 0.009375975566000143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048769875165406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.927458690298152,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": [],
+              "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26096314172532203,
+              -0.3513416642004712,
+              0.8515395800161868
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+            "target_position": [
+              0.2542693383699123,
+              -0.35108785148007304,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006698613607152663,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824986874549257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395800161868,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26142288596125135,
+            -0.35204785162261426,
+            1.0433427652344722
+          ],
+          "object_origin_world": [
+            0.26142288596125135,
+            -0.35204785162261426,
+            1.0433427652344722
+          ],
+          "frame_world": [
+            0.2614483607664052,
+            -0.35204557682055543,
+            1.043656300448318
+          ],
+          "center_minus_frame": [
+            -2.5474805153857805e-05,
+            -2.27480205883257e-06,
+            -0.0003135352138456948
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2504508761311388,
+              0.15358088654847912,
+              0.8327289351078636
+            ],
+            "target_position": [
+              0.26470283441413606,
+              0.20011149950737256,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866432222101357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1683739567084826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327289351078636,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677375288213,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376695014699059,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a97fedb4e95d9ed881168233d627c8ea24fcbdb1e794c76fe8feadbc9305813",
+    "visual_seed": 1542588418204508717,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab1c92000acd843f457d7c10f0533130d3a619eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30840945477151993,
+              -0.1138965440216982,
+              1.166167777871328
+            ],
+            "current_z": 1.166167777871328,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3050612102519171,
+            "gripper_z": 1.1572539802376334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3040423297069128,
+              -0.11838269555764216,
+              1.1572539802376334
+            ],
+            "object_minus_gripper": [
+              0.004367125064607125,
+              0.0044861515359439635,
+              0.008913797633694598
+            ],
+            "object_to_gripper_xy": 0.006260777662029867,
+            "object_to_gripper_z": 0.008913797633694598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30840945477151993,
+              -0.13764055063107733,
+              1.166167777871328
+            ],
+            "finger_b": [
+              0.2981410879887326,
+              -0.1138965440216982,
+              1.166167777871328
+            ],
+            "finger_midpoint": [
+              0.3032752713801263,
+              -0.12576854732638776,
+              1.166167777871328
+            ],
+            "object_minus_finger_midpoint": [
+              0.005134183391393654,
+              0.011872003304689557,
+              0.0
+            ],
+            "finger_gap": 0.02586923281143238,
+            "fingertip_max_gap": 0.09163068877369049,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012934616405716182,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166167777871328,
+            "object_top_z": 1.2161722100784855,
+            "finger_top_clearance": 0.050004432207157556,
+            "fingertip_min_top_clearance": 0.0150013296621473,
+            "object_projection_between_fingers": 0.8424437456168282,
+            "object_to_finger_line_xy": 0.009424793171689377,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048315344386845246,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0220312525019148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.25886214851669914,
+              -0.35230301229601624,
+              0.8515395410901407
+            ],
+            "target_position": [
+              0.25219308166208265,
+              -0.3521380769404495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006671106083915935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382735071902812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+              "rod_tip_xy_range": 0.0005933044692886455,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25895083084587356,
+            -0.3514259955273573,
+            1.0434533912744874
+          ],
+          "object_origin_world": [
+            0.25895083084587356,
+            -0.3514259955273573,
+            1.0434533912744874
+          ],
+          "frame_world": [
+            0.2589495660874458,
+            -0.3514298278833596,
+            1.043347337977693
+          ],
+          "center_minus_frame": [
+            1.2647584277658552e-06,
+            3.832356002264614e-06,
+            0.00010605329679447273
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25729455367749143,
+              0.15711996006856188,
+              0.831716750658886
+            ],
+            "target_position": [
+              0.27438990559118354,
+              0.2021680602428918,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048182801769609034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1665009458680488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831716750658886,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672210183247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365866371515385,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "125b7fef24368f8d65c83710e5ea58c814d987f2ce1f8a257d43ccb45d66857f",
+    "visual_seed": 3397611293186528271,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac43eae184f956d2ad15bcf2a059c5116826aa84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_73_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3038286268974445,
+              -0.11284983769831958,
+              1.1645522220972273
+            ],
+            "current_z": 1.1645522220972273,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3034455948731718,
+            "gripper_z": 1.1559770804446337,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29935148354900876,
+              -0.11731610966880768,
+              1.1559770804446337
+            ],
+            "object_minus_gripper": [
+              0.0044771433484357415,
+              0.0044662719704881,
+              0.008575141652593654
+            ],
+            "object_to_gripper_xy": 0.006323954291170206,
+            "object_to_gripper_z": 0.008575141652593654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3038286268974445,
+              -0.13660218451947478,
+              1.1645522220972273
+            ],
+            "finger_b": [
+              0.2935356669746359,
+              -0.11284983769831958,
+              1.1645522220972273
+            ],
+            "finger_midpoint": [
+              0.2986821469360402,
+              -0.12472601110889718,
+              1.1645522220972273
+            ],
+            "object_minus_finger_midpoint": [
+              0.005146479961404271,
+              0.011876173410577603,
+              0.0
+            ],
+            "finger_gap": 0.025886656861885154,
+            "fingertip_max_gap": 0.09231538148593207,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012943328430942567,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645522220972273,
+            "object_top_z": 1.2145937119274857,
+            "finger_top_clearance": 0.05004148983025836,
+            "fingertip_min_top_clearance": 0.015012446949077473,
+            "object_projection_between_fingers": 0.8419011796090369,
+            "object_to_finger_line_xy": 0.009444323197360037,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865769074296604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7365792328253142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26474696126105285,
+              -0.3506981476599358,
+              0.8515395754431538
+            ],
+            "target_position": [
+              0.2577227338450516,
+              -0.3508553620070016,
+              0.8084375599031817
+            ],
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+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006019009002496601,
+              "rod_tip_xy_max_step": 3.271120786573681e-05,
+              "rod_tip_xy_range": 0.0006018905156945022,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2639696518407222,
+            -0.3503956002913151,
+            1.0432982979085448
+          ],
+          "object_origin_world": [
+            0.2639696518407222,
+            -0.3503956002913151,
+            1.0432982979085448
+          ],
+          "frame_world": [
+            0.2639952182705241,
+            -0.3503929963751084,
+            1.0436126457713613
+          ],
+          "center_minus_frame": [
+            -2.5566429801893165e-05,
+            -2.6039162067115207e-06,
+            -0.00031434786281647753
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25781521292313864,
+              0.15899717977868436,
+              0.8319556698279024
+            ],
+            "target_position": [
+              0.27293551484437595,
+              0.20515798487535108,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04857410274376487,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16699722022375338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319556698279024,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672190598537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358207346176708,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b7329c4b94218fd7806bcc9a22c0151934c95c1bd601cd1cf1464a75ed7d0ea",
+    "visual_seed": 7860714992689298218,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..646dd450ee7853f3062328b70e4523bb95b2c922
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30670034852283157,
+              -0.11386287433614094,
+              1.1634540466375163
+            ],
+            "current_z": 1.1634540466375163,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3023475982273949,
+            "gripper_z": 1.1547566441166355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022761671027393,
+              -0.1182999698561948,
+              1.1547566441166355
+            ],
+            "object_minus_gripper": [
+              0.004424181420092266,
+              0.004437095520053863,
+              0.008697402520880804
+            ],
+            "object_to_gripper_xy": 0.006265875668409937,
+            "object_to_gripper_z": 0.008697402520880804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30670034852283157,
+              -0.13762132693264884,
+              1.1634540466375163
+            ],
+            "finger_b": [
+              0.2964934420392321,
+              -0.11386287433614094,
+              1.1634540466375163
+            ],
+            "finger_midpoint": [
+              0.30159689528103184,
+              -0.1257421006343949,
+              1.1634540466375163
+            ],
+            "object_minus_finger_midpoint": [
+              0.005103453241799727,
+              0.011879226298253956,
+              0.0
+            ],
+            "finger_gap": 0.02585817104409083,
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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": 1.1634540466375163,
+            "object_top_z": 1.2134617570780435,
+            "finger_top_clearance": 0.05000771044052721,
+            "fingertip_min_top_clearance": 0.015002313132158128,
+            "object_projection_between_fingers": 0.8441909556692802,
+            "object_to_finger_line_xy": 0.009378091877963778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860132905168944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6199390068624235,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26347321607547697,
+              -0.34788367792637315,
+              0.8515396115717145
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005957055610423344,
+              "rod_tip_xy_max_step": 3.2359232751894594e-05,
+              "rod_tip_xy_range": 0.0005956977869313964,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2638035820528984,
+            -0.347932693046877,
+            1.043401687920524
+          ],
+          "object_origin_world": [
+            0.2638035820528984,
+            -0.347932693046877,
+            1.043401687920524
+          ],
+          "frame_world": [
+            0.26380222177132073,
+            -0.3479368581208701,
+            1.0432948862689078
+          ],
+          "center_minus_frame": [
+            1.3602815776558863e-06,
+            4.165073993089852e-06,
+            0.00010680165161613964
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.254513003381907,
+              0.16265074781399497,
+              0.8321341205949345
+            ],
+            "target_position": [
+              0.26975554632872695,
+              0.20823410650435237,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04806430801519389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16646122173264447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321341205949345,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669896187924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13614222001252016,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a5fbce943e0865f6f522e8d32dd1095772db2390e80267f38959c8faf9ef5bf",
+    "visual_seed": 810866332197053007,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7066eb1e1d4f86f3ec771f74d6f02be75e70a249
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_80_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30106726277504503,
+              -0.1124950568159707,
+              1.166534442641531
+            ],
+            "current_z": 1.166534442641531,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3054279346267651,
+            "gripper_z": 1.1578517787172788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29678017036332516,
+              -0.11702374386751715,
+              1.1578517787172788
+            ],
+            "object_minus_gripper": [
+              0.004287092411719873,
+              0.004528687051546451,
+              0.008682663924252099
+            ],
+            "object_to_gripper_xy": 0.006236037825211663,
+            "object_to_gripper_z": 0.008682663924252099,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30106726277504503,
+              -0.13595513673390794,
+              1.166534442641531
+            ],
+            "finger_b": [
+              0.2905015485097386,
+              -0.1124950568159707,
+              1.166534442641531
+            ],
+            "finger_midpoint": [
+              0.29578440564239183,
+              -0.12422509677493931,
+              1.166534442641531
+            ],
+            "object_minus_finger_midpoint": [
+              0.005282857132653196,
+              0.01173003995896861,
+              0.0
+            ],
+            "finger_gap": 0.025729548532613278,
+            "fingertip_max_gap": 0.09227678627846628,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012864774266306622,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166534442641531,
+            "object_top_z": 1.2166329573145052,
+            "finger_top_clearance": 0.050098514672974215,
+            "fingertip_min_top_clearance": 0.015029554401892263,
+            "object_projection_between_fingers": 0.8313705624190055,
+            "object_to_finger_line_xy": 0.009633767990137479,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863839313923314,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5250658565555928,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": [],
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005978982887642982,
+              "rod_tip_xy_max_step": 3.254511434867486e-05,
+              "rod_tip_xy_range": 0.0005978901286862442,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26447725595100297,
+            -0.3450159298797521,
+            1.043381267037647
+          ],
+          "object_origin_world": [
+            0.26447725595100297,
+            -0.3450159298797521,
+            1.043381267037647
+          ],
+          "frame_world": [
+            0.26447580756985634,
+            -0.345019965203209,
+            1.0432743783002094
+          ],
+          "center_minus_frame": [
+            1.4483811466292629e-06,
+            4.035323456885731e-06,
+            0.00010688873743758265
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25815402417690503,
+              0.15560036104924652,
+              0.8322120016171277
+            ],
+            "target_position": [
+              0.2737212713379788,
+              0.20151448560954627,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04848139868354336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16673700992848006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322120016171277,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671417841025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13722959163905493,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48e2686efdb49a9c8e4db0dfc39cbe415aa7fb9636c2935229429a2c7e83186e",
+    "visual_seed": 6191206875039582788,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd320618f2214e63373e2e02d87f2967a773245
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30107510602591125,
+              -0.11167378615904232,
+              1.1657949288691039
+            ],
+            "current_z": 1.1657949288691039,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30468848045898256,
+            "gripper_z": 1.1570214243875998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29674501936671305,
+              -0.11624138407175429,
+              1.1570214243875998
+            ],
+            "object_minus_gripper": [
+              0.004330086659198207,
+              0.004567597912711968,
+              0.008773504481504046
+            ],
+            "object_to_gripper_xy": 0.00629385423793537,
+            "object_to_gripper_z": 0.008773504481504046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30107510602591125,
+              -0.13509609348349802,
+              1.1657949288691039
+            ],
+            "finger_b": [
+              0.2903728161649114,
+              -0.11167378615904232,
+              1.1657949288691039
+            ],
+            "finger_midpoint": [
+              0.2957239610954113,
+              -0.12338493982127016,
+              1.1657949288691039
+            ],
+            "object_minus_finger_midpoint": [
+              0.005351144930499929,
+              0.011711153662227844,
+              0.0
+            ],
+            "finger_gap": 0.025751572547518562,
+            "fingertip_max_gap": 0.09201028621444288,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012875786273759274,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657949288691039,
+            "object_top_z": 1.2158788460741332,
+            "finger_top_clearance": 0.05008391720502936,
+            "fingertip_min_top_clearance": 0.015025175161508808,
+            "object_projection_between_fingers": 0.8272786957486976,
+            "object_to_finger_line_xy": 0.009734252995120502,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850514310722144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2734548803241603,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+                "target_xy_drift": 2.9016751570186036e-08,
+                "depth": 0.019483593541020028,
+                "bottom_clearance": 0.0799569643746858,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005960543709094668,
+              "rod_tip_xy_max_step": 3.224129123357424e-05,
+              "rod_tip_xy_range": 0.0005960495089456175,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26768093339349575,
+            -0.34711093570203544,
+            1.0433979004281815
+          ],
+          "object_origin_world": [
+            0.26768093339349575,
+            -0.34711093570203544,
+            1.0433979004281815
+          ],
+          "frame_world": [
+            0.2676795343406418,
+            -0.34711559825592686,
+            1.0432893786678399
+          ],
+          "center_minus_frame": [
+            1.3990528539564728e-06,
+            4.662553891421339e-06,
+            0.00010852176034159555
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25657247884801326,
+              0.15670358026613596,
+              0.8319505691246452
+            ],
+            "target_position": [
+              0.27100139384130345,
+              0.20331038187071915,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04878921544452803,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16938452140733223,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319505691246452,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669971093901,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389366853471992,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22f6ffa7887dd1da9891d83873f2daf254ac97387688cf630d667e19204ce6c7",
+    "visual_seed": 5994323579390771535,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1118d6c6e5c64acb3b72621c17b6353d05982da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3076963835240219,
+              -0.11524511685437344,
+              1.16736740680206
+            ],
+            "current_z": 1.16736740680206,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30626083918264924,
+            "gripper_z": 1.1584427711491474,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30360685356449824,
+              -0.11955780139724358,
+              1.1584427711491474
+            ],
+            "object_minus_gripper": [
+              0.004089529959523663,
+              0.004312684542870135,
+              0.008924635652912682
+            ],
+            "object_to_gripper_xy": 0.005943357910823863,
+            "object_to_gripper_z": 0.008924635652912682,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3076963835240219,
+              -0.13878652654140092,
+              1.16736740680206
+            ],
+            "finger_b": [
+              0.2976848792068327,
+              -0.11524511685437344,
+              1.16736740680206
+            ],
+            "finger_midpoint": [
+              0.3026906313654273,
+              -0.12701582169788717,
+              1.16736740680206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005005752158594612,
+              0.011770704843513724,
+              0.0
+            ],
+            "finger_gap": 0.025581794087701698,
+            "fingertip_max_gap": 0.09239157886009106,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012790897043850835,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16736740680206,
+            "object_top_z": 1.2173641691044086,
+            "finger_top_clearance": 0.04999676230234851,
+            "fingertip_min_top_clearance": 0.014999028690704519,
+            "object_projection_between_fingers": 0.8468430602214382,
+            "object_to_finger_line_xy": 0.009212994362568956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869578943004553,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7623565922599822,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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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+                ],
+                "rod_tip_xy_dist": 0.0027321807400060762,
+                "target_xy_drift": 3.050304099808304e-08,
+                "depth": 0.019631655606850096,
+                "bottom_clearance": 0.07980900096126287,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005948395684419235,
+              "rod_tip_xy_max_step": 3.216234422131744e-05,
+              "rod_tip_xy_range": 0.0005948296887624,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25652055100647025,
+            -0.34237733295479655,
+            1.0435004232500922
+          ],
+          "object_origin_world": [
+            0.25652055100647025,
+            -0.34237733295479655,
+            1.0435004232500922
+          ],
+          "frame_world": [
+            0.2565192793578752,
+            -0.3423806125511743,
+            1.0433970118992237
+          ],
+          "center_minus_frame": [
+            1.2716485950359235e-06,
+            3.2795963777476622e-06,
+            0.00010341135086844311
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2554229746655994,
+              0.16059870976919907,
+              0.8319207265746692
+            ],
+            "target_position": [
+              0.27336903445893146,
+              0.20602500303802673,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048842698351456666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16610803166300453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319207265746692,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672015980656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1366431447759771,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b934000cea04f9a0714adcae278f74a07f1f67507855cbefed4578e90bf15e9",
+    "visual_seed": 917896522127600099,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f0e56af5af205ad2008de6a2765b2852ce8f36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "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,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30115494085150735,
+              -0.11148219741811623,
+              1.1672912241307336
+            ],
+            "current_z": 1.1672912241307336,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.306184835325257,
+            "gripper_z": 1.1585013788702616,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29704044400775664,
+              -0.11581375559607661,
+              1.1585013788702616
+            ],
+            "object_minus_gripper": [
+              0.0041144968437507035,
+              0.004331558177960382,
+              0.008789845260471996
+            ],
+            "object_to_gripper_xy": 0.005974234723066208,
+            "object_to_gripper_z": 0.008789845260471996,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30115494085150735,
+              -0.13497674951472058,
+              1.1672912241307336
+            ],
+            "finger_b": [
+              0.2910620858505847,
+              -0.11148219741811623,
+              1.1672912241307336
+            ],
+            "finger_midpoint": [
+              0.29610851335104604,
+              -0.12322947346641841,
+              1.1672912241307336
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050464275004613035,
+              0.011747276048302183,
+              0.0
+            ],
+            "finger_gap": 0.025570680481553584,
+            "fingertip_max_gap": 0.09265578520863862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012785340240776788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1672912241307336,
+            "object_top_z": 1.217442487082107,
+            "finger_top_clearance": 0.0501512629513734,
+            "fingertip_min_top_clearance": 0.01504537888541202,
+            "object_projection_between_fingers": 0.8442085939468117,
+            "object_to_finger_line_xy": 0.009273398406182897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048827892604319315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9215059720681178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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,
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+                  -0.34716054313110123
+                ],
+                "target_mouth_xy": [
+                  0.26400491458766234,
+                  -0.3490546171599405
+                ],
+                "gripper_position": [
+                  0.26335780713509266,
+                  -0.3472267419957016,
+                  1.0009147467120825
+                ],
+                "rod_tip_xy_dist": 0.0020042643254409016,
+                "target_xy_drift": 1.252613662777653e-07,
+                "depth": 0.01975148634313939,
+                "bottom_clearance": 0.07968911415847191,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006030941159274282,
+              "rod_tip_xy_max_step": 3.2727086640916135e-05,
+              "rod_tip_xy_range": 0.0006030842416611627,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2628709865098456,
+            -0.348481878812918,
+            1.0432952314908928
+          ],
+          "object_origin_world": [
+            0.2628709865098456,
+            -0.348481878812918,
+            1.0432952314908928
+          ],
+          "frame_world": [
+            0.2628965944860737,
+            -0.3484799725195553,
+            1.0436103138397543
+          ],
+          "center_minus_frame": [
+            -2.560797622813693e-05,
+            -1.9062933626634582e-06,
+            -0.0003150823488615728
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25148977264634154,
+              0.16393437274395387,
+              0.8314868214253113
+            ],
+            "target_position": [
+              0.2683464064448956,
+              0.20962135320004166,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048697497740782365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1673688105705914,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314868214253113,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567405799979,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13769568970168464,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 338,
+            "max_placed_release_frames": 338
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "workflow_spec_digest": "8baa27db9359a900bc23bc2ac9f066c65bf0599ae632f05809c5ae53084ee8c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92bc5f79b1fccbddfeb3499e70964e226c363d4af6c4a6660a8137d3f104d569",
+    "visual_seed": 1969112907504108581,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557,
+      6626310056599117899,
+      2251025298288835724
+    ],
+    "runtime_workflow_digest": "5abe57d773f211078122ebf07a26d938b67de44b877f84a8e093d76ee23744a9"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26789b7770bb8282ae3edf4cb26c9f7d04a7a6c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00013/results/episode_9_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.30543271277274997,
+              -0.11084452984233667,
+              1.1662527804143235
+            ],
+            "current_z": 1.1662527804143235,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3051462723995575,
+            "gripper_z": 1.1576166091740048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3010101075708441,
+              -0.11535088798136005,
+              1.1576166091740048
+            ],
+            "object_minus_gripper": [
+              0.004422605201905849,
+              0.004506358139023378,
+              0.00863617124031868
+            ],
+            "object_to_gripper_xy": 0.006314008271222561,
+            "object_to_gripper_z": 0.00863617124031868,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30543271277274997,
+              -0.13457201081685127,
+              1.1662527804143235
+            ],
+            "finger_b": [
+              0.2950854849238663,
+              -0.11084452984233667,
+              1.1662527804143235
+            ],
+            "finger_midpoint": [
+              0.30025909884830815,
+              -0.12270827032959397,
+              1.1662527804143235
+            ],
+            "object_minus_finger_midpoint": [
+              0.005173613924441822,
+              0.011863740487257302,
+              0.0
+            ],
+            "finger_gap": 0.025885487778920947,
+            "fingertip_max_gap": 0.0923282324837281,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012942743889460474,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662527804143235,
+            "object_top_z": 1.2163177006858388,
+            "finger_top_clearance": 0.05006492027151532,
+            "fingertip_min_top_clearance": 0.015019476081454562,
+            "object_projection_between_fingers": 0.8402152532301959,
+            "object_to_finger_line_xy": 0.009484605969962872,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866411624186405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.624715474231457,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+}
\ No newline at end of file
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+  "published_failures": 0,
+  "matched_success_results": 34
+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4da71458a2b8af30697bcf8cee87fedd9cbae524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00020
+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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00020
+  reproducibility:
+    enabled: true
+    layout_id: layout_00020
+    action_seed: 5991770722474229261
+    step_seeds:
+    - 3028738977928516977
+    - 5597848014300184368
+    - 589239366799290088
+    - 66021878712357332
+    - 8110057622979961694
+    - 4112354901315350723
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2865
+      - 0.2865
+      'y':
+      - -0.0431
+      - -0.0431
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2778
+      - 0.2778
+      'y':
+      - 0.0758
+      - 0.0758
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2279
+      - 0.2279
+      'y':
+      - -0.3683
+      - -0.3683
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2836
+      - 0.2836
+      'y':
+      - 0.2992
+      - 0.2992
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a33bd5c80031f49cdd56f0642e070cc4c58651e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3102035111733622,
+              -0.04662185043410178,
+              1.1641221159225486
+            ],
+            "current_z": 1.1641221159225486,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3030156079077826,
+            "gripper_z": 1.1559730157806192,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.305545003068981,
+              -0.05124363536406017,
+              1.1559730157806192
+            ],
+            "object_minus_gripper": [
+              0.004658508104381176,
+              0.004621784929958385,
+              0.008149100141929377
+            ],
+            "object_to_gripper_xy": 0.006562209513370899,
+            "object_to_gripper_z": 0.008149100141929377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3102035111733622,
+              -0.07043200705340054,
+              1.1641221159225486
+            ],
+            "finger_b": [
+              0.29956576032322707,
+              -0.04662185043410178,
+              1.1641221159225486
+            ],
+            "finger_midpoint": [
+              0.3048846357482946,
+              -0.058526928743751164,
+              1.1641221159225486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005318875425067593,
+              0.011905078309649382,
+              0.0
+            ],
+            "finger_gap": 0.026078445148917277,
+            "fingertip_max_gap": 0.09219488452862165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013039222574458654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641221159225486,
+            "object_top_z": 1.2140038350378073,
+            "finger_top_clearance": 0.04988171911525874,
+            "fingertip_min_top_clearance": 0.01496451573457762,
+            "object_projection_between_fingers": 0.833606544768603,
+            "object_to_finger_line_xy": 0.009712485248734701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859744226431083,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9540718872822465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2839784790799312,
+              -0.3655486764123699,
+              0.8515395894677137
+            ],
+            "target_position": [
+              0.2763121508823622,
+              -0.36629937828795134,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007702995608128209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18401131154376332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395894677137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519478096332627,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620937155430723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15275770085942672,
+            "release_required_pad_clearance": 0.05310468577715362,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2366792301382252,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007791101932525635,
+            "max_z_decrease": 0.007791101932525635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351636457309088,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007791101932525635,
+            "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": 0.02125981211591697,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007791101932525635,
+            "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": 0.007791127217479616,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13201208412647247,
+              -0.42256084084510803,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13201208412647247,
+              -0.42256084084510803,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1adc2029176377bc4f0ba999cc6c580c449d288b4529953fc1706b9fe9ef15e",
+    "visual_seed": 5643009284488423707,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..011f963967374249a0bfbe83d6b28d2af575dbcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31065439002567824,
+              -0.04610254352950469,
+              1.1634617851715592
+            ],
+            "current_z": 1.1634617851715592,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3023552771567931,
+            "gripper_z": 1.1553491513765908,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30589372330935477,
+              -0.050774809070922855,
+              1.1553491513765908
+            ],
+            "object_minus_gripper": [
+              0.0047606667163234695,
+              0.004672265541418162,
+              0.008112633794968405
+            ],
+            "object_to_gripper_xy": 0.006670383262859312,
+            "object_to_gripper_z": 0.008112633794968405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31065439002567824,
+              -0.07014487079281052,
+              1.1634617851715592
+            ],
+            "finger_b": [
+              0.30014889524791843,
+              -0.04610254352950469,
+              1.1634617851715592
+            ],
+            "finger_midpoint": [
+              0.30540164263679836,
+              -0.05812370716115761,
+              1.1634617851715592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005252747388879875,
+              0.012021163631652919,
+              0.0
+            ],
+            "finger_gap": 0.026237357350949758,
+            "fingertip_max_gap": 0.09228178498287484,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013118678675474872,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634617851715592,
+            "object_top_z": 1.213311390576433,
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+            "fingertip_min_top_clearance": 0.014954881621462178,
+            "object_projection_between_fingers": 0.8396781034992568,
+            "object_to_finger_line_xy": 0.009626599970850655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048640892491437424,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.212442789667006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28907568458062527,
+              -0.36526193249577066,
+              0.8515396058798128
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+            "target_position": [
+              0.28309209265238655,
+              -0.3653036846398631,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059837375949501545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846430357811846,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396058798128,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751946948273359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08729682395138454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15332226891979464,
+            "release_required_pad_clearance": 0.05364841197569227,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3066972217047863,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007926642894744873,
+            "max_z_decrease": 0.007926642894744873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520971797374307,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007926642894744873,
+            "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": 0.02104952159708695,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007926642894744873,
+            "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": 0.007926668489179351,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13879202306270597,
+              -0.42156514525413513,
+              0.7768088579177856
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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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "508129e8bb258bc6c9289d0b7aeecf25a444e43ad279d769c45bbf7483958627",
+    "visual_seed": 6415471552719607551,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffbb4b1266a0c0382a45767952d497e5b2e96273
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3182837801952342,
+              -0.04511324606906895,
+              1.1629444452350666
+            ],
+            "current_z": 1.1629444452350666,
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+            "lift_margin": 0.3018379968249454,
+            "gripper_z": 1.1545530698547883,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.04973075678796697,
+              1.1545530698547883
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+              0.004693904960828499,
+              0.004617510718898023,
+              0.008391375380278232
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+            "object_to_gripper_xy": 0.006584386761151605,
+            "object_to_gripper_z": 0.008391375380278232,
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+              0.3182837801952342,
+              -0.06914412691163073,
+              1.1629444452350666
+            ],
+            "finger_b": [
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+              -0.04511324606906895,
+              1.1629444452350666
+            ],
+            "finger_midpoint": [
+              0.3130954312214831,
+              -0.05712868649034984,
+              1.1629444452350666
+            ],
+            "object_minus_finger_midpoint": [
+              0.005188348973751089,
+              0.012015440421280894,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009526495174809241,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048726413970338375,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2883313067847898,
+              -0.3711521136725663,
+              0.8515395759562003
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+            "target_position": [
+              0.28268373601755087,
+              -0.3711870451017466,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005647678795373927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844065352454844,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395759562003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573222660633817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0889672241010057,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15165222247031923,
+            "release_required_pad_clearance": 0.05448361205050285,
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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": 3.997606397082135,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008150041103363037,
+            "max_z_decrease": 0.008150041103363037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000528039792644,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150041103363037,
+            "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": 0.02091261150986666,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008150041103363037,
+            "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": 0.008150117384887457,
+            "max_button_displacement": 0.12,
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+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ff96a9e09ec84823770d96e91deae2bc3ad41b77afe54552d40c02fd40c8c56",
+    "visual_seed": 1393709635070147204,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b2e9cb990505fa8272a1a1114a416f77f2fc40a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3125358512100405,
+              -0.04416273454355195,
+              1.1631122048879163
+            ],
+            "current_z": 1.1631122048879163,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30200569687315026,
+            "gripper_z": 1.1548652728091526,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3077078171244997,
+              -0.04892650563196324,
+              1.1548652728091526
+            ],
+            "object_minus_gripper": [
+              0.004828034085540833,
+              0.004763771088411292,
+              0.008246932078763702
+            ],
+            "object_to_gripper_xy": 0.006782582702328621,
+            "object_to_gripper_z": 0.008246932078763702,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3125358512100405,
+              -0.06806699073415742,
+              1.1631122048879163
+            ],
+            "finger_b": [
+              0.30165148388723506,
+              -0.04416273454355195,
+              1.1631122048879163
+            ],
+            "finger_midpoint": [
+              0.30709366754863776,
+              -0.056114862638854686,
+              1.1631122048879163
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442183661402755,
+              0.011952128095302737,
+              0.0
+            ],
+            "finger_gap": 0.026265622323559275,
+            "fingertip_max_gap": 0.09169483315858398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013132811161779648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631122048879163,
+            "object_top_z": 1.213017490790727,
+            "finger_top_clearance": 0.049905285902810625,
+            "fingertip_min_top_clearance": 0.014971585770843154,
+            "object_projection_between_fingers": 0.828276002691703,
+            "object_to_finger_line_xy": 0.009905826778131295,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048347416579291994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4352095831049434,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29197915808057495,
+              -0.36835143043629937,
+              0.8515395630807145
+            ],
+            "target_position": [
+              0.2846736356911467,
+              -0.3693402554004664,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00737213891568775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18518797387925376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395630807145,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756203943649605,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659981766343382,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280963818913165,
+            "release_required_pad_clearance": 0.05329990883171691,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.61830083195451,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00815725326538086,
+            "max_z_decrease": 0.00815725326538086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096175899242736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00815725326538086,
+            "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": 0.020909936895847747,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00815725326538086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13843892613413386,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e83838c08ed2c0407a395423dc941f5f0f33f1f647d9444aec4f051533f66cf",
+    "visual_seed": 7598110190819390593,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53cd8c75be0fef7bd45cf8909562ada73a185cea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31695366046777973,
+              -0.041591902768507626,
+              1.1664142521510446
+            ],
+            "current_z": 1.1664142521510446,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3053076845316339,
+            "gripper_z": 1.1580610785088008,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31245878468463373,
+              -0.046280819377950116,
+              1.1580610785088008
+            ],
+            "object_minus_gripper": [
+              0.004494875783146002,
+              0.004688916609442491,
+              0.00835317364224375
+            ],
+            "object_to_gripper_xy": 0.0064953712192774675,
+            "object_to_gripper_z": 0.00835317364224375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31695366046777973,
+              -0.06515858450952214,
+              1.1664142521510446
+            ],
+            "finger_b": [
+              0.30604313555644025,
+              -0.041591902768507626,
+              1.1664142521510446
+            ],
+            "finger_midpoint": [
+              0.31149839801211,
+              -0.053375243639014885,
+              1.1664142521510446
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054552624556697404,
+              0.01178334087050726,
+              0.0
+            ],
+            "finger_gap": 0.02596975244632159,
+            "fingertip_max_gap": 0.09241840234665791,
+            "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": 1.1664142521510446,
+            "object_top_z": 1.2162844655334049,
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+            "fingertip_min_top_clearance": 0.014961064014708092,
+            "object_projection_between_fingers": 0.8234955452531295,
+            "object_to_finger_line_xy": 0.009900936435355487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048709201173328956,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2135160826802136,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2855193021734158,
+              -0.3703763711864757,
+              0.8515395509259752
+            ],
+            "target_position": [
+              0.27812341111707606,
+              -0.3710326956471937,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00742495564397412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18554886734015616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395509259752,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519672161006799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537781358733597,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542912075584027,
+            "release_required_pad_clearance": 0.052688906793667986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43340963015364997,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00804823637008667,
+            "max_z_decrease": 0.00804823637008667,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515585806052484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00804823637008667,
+            "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": 0.021037324533313053,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674699928105,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13657230826823147,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb4f9eb1b7219afc79756bbb4e62e078f58027d39e09783d6c16a659a905fc69",
+    "visual_seed": 6816353236755021749,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..134c4a6db776b3d936c291b1a7acbe36ddf417b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_23_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31426210562602014,
+              -0.04104409650535005,
+              1.1648535632331045
+            ],
+            "current_z": 1.1648535632331045,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3037471148229831,
+            "gripper_z": 1.1563802377165218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30977720468871944,
+              -0.045642781510846844,
+              1.1563802377165218
+            ],
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+              0.004484900937300695,
+              0.004598685005496796,
+              0.008473325516582753
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+            "object_to_gripper_xy": 0.006423569116712431,
+            "object_to_gripper_z": 0.008473325516582753,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31426210562602014,
+              -0.06470030238322784,
+              1.1648535632331045
+            ],
+            "finger_b": [
+              0.30360837410960817,
+              -0.04104409650535005,
+              1.1648535632331045
+            ],
+            "finger_midpoint": [
+              0.3089352398678141,
+              -0.05287219944428895,
+              1.1648535632331045
+            ],
+            "object_minus_finger_midpoint": [
+              0.005326865758206012,
+              0.011828102938938899,
+              0.0
+            ],
+            "finger_gap": 0.02594451910828816,
+            "fingertip_max_gap": 0.0921099939704075,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012972259554144093,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648535632331045,
+            "object_top_z": 1.2146900550262498,
+            "finger_top_clearance": 0.04983649179314531,
+            "fingertip_min_top_clearance": 0.014950947537943559,
+            "object_projection_between_fingers": 0.8313787729291523,
+            "object_to_finger_line_xy": 0.009714069667969503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048554996985203755,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0098587430068418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2873668005800234,
+              -0.36850436437626843,
+              0.8515395564981079
+            ],
+            "target_position": [
+              0.28016947688042637,
+              -0.36929340105593295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007240445243121241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18442356742854735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395564981079,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567167623581648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08752018740556515,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15210252659601406,
+            "release_required_pad_clearance": 0.05376009370278258,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.529407567056369,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008099794387817383,
+            "max_z_decrease": 0.008099794387817383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509139108414266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008099794387817383,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356725964218,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13706503810878531,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35c2c2c9a046c304c8b8f1242301dc54a944145ea414f66ed643fd43c560cd35",
+    "visual_seed": 8788550710410424431,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca927c0a02d972c113daa93d3df78d45697100e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_24_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.317486887441284,
+              -0.042798763362940764,
+              1.1661334933696694
+            ],
+            "current_z": 1.1661334933696694,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30502710456419313,
+            "gripper_z": 1.1575224156211958,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31282067650172796,
+              -0.047484492508911375,
+              1.1575224156211958
+            ],
+            "object_minus_gripper": [
+              0.004666210939556048,
+              0.00468572914597061,
+              0.008611077748473583
+            ],
+            "object_to_gripper_xy": 0.006612834654051998,
+            "object_to_gripper_z": 0.008611077748473583,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.317486887441284,
+              -0.06655957747451599,
+              1.1661334933696694
+            ],
+            "finger_b": [
+              0.3066766295360077,
+              -0.042798763362940764,
+              1.1661334933696694
+            ],
+            "finger_midpoint": [
+              0.31208175848864583,
+              -0.05467917041872838,
+              1.1661334933696694
+            ],
+            "object_minus_finger_midpoint": [
+              0.005405128952638172,
+              0.011880407055787613,
+              0.0
+            ],
+            "finger_gap": 0.02610436674626337,
+            "fingertip_max_gap": 0.09162005089182576,
+            "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": 1.1661334933696694,
+            "object_top_z": 1.2160306857502712,
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+            "fingertip_min_top_clearance": 0.014969157714180559,
+            "object_projection_between_fingers": 0.8285072416191855,
+            "object_to_finger_line_xy": 0.009839753290403933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831002544591288,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4130422178907185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28793616138597045,
+              -0.3649393960604489,
+              0.8515395959131031
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+            "target_position": [
+              0.280491945292626,
+              -0.36577455638313133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00749091756789457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18344385750961023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395959131031,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587783247556544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08771087707668228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15059472512090372,
+            "release_required_pad_clearance": 0.05385543853834114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.72026163407786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007957160472869873,
+            "max_z_decrease": 0.007957160472869873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513987576699911,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007957160472869873,
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+            "xy_dist": 0.04762397787563283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16914249396482745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332539880733428,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674116774218,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13809727043339395,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2999e63aaf85daba2e17f1ef84f4e186f6f7175211cccbf3b7a519c90f07416",
+    "visual_seed": 1065913439733056747,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca6af519e73ee2c5f1c97152fc360b63a8425d31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_25_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31107214875594874,
+              -0.04171184879094167,
+              1.1640615855955772
+            ],
+            "current_z": 1.1640615855955772,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3029550775808112,
+            "gripper_z": 1.1558912991880252,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3063458097434762,
+              -0.04639087133647177,
+              1.1558912991880252
+            ],
+            "object_minus_gripper": [
+              0.004726339012472547,
+              0.004679022545530098,
+              0.008170286407551908
+            ],
+            "object_to_gripper_xy": 0.006650679096332865,
+            "object_to_gripper_z": 0.008170286407551908,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31107214875594874,
+              -0.06558357341028288,
+              1.1640615855955772
+            ],
+            "finger_b": [
+              0.3003698578212801,
+              -0.04171184879094167,
+              1.1640615855955772
+            ],
+            "finger_midpoint": [
+              0.3057210032886144,
+              -0.053647711100612276,
+              1.1640615855955772
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053511454673343395,
+              0.011935862309670607,
+              0.0
+            ],
+            "finger_gap": 0.02616100662344535,
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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": 1.1640615855955772,
+            "object_top_z": 1.2139650276494018,
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+            "object_projection_between_fingers": 0.8326427218175334,
+            "object_to_finger_line_xy": 0.009765761144661737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852912679815531,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.767423010446899,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28963779246279164,
+              -0.36482721186208317,
+              0.8515395158165661
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+            "target_position": [
+              0.2820401852640733,
+              -0.3655882843955648,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007635631378428156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18424967642236167,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395158165661,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526561239473177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862388628742191,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297326706042094,
+            "release_required_pad_clearance": 0.05311943143710955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2654579005415063,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026123046875,
+            "max_z_decrease": 0.008026123046875,
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+              0.8318648843252359
+            ],
+            "target_position": [
+              0.2748602323552667,
+              0.18973554219029382,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04781654320622603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16648055207672507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318648843252359,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672678298104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13707358173111073,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c184fcbf31b8983b3d716587fa4994d7516a8072845d12e21561fff173b38670",
+    "visual_seed": 4479257944542041403,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29c1aa9a695e9cfd8c9c91830c16412942297c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_30_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31601848068380467,
+              -0.048746996247438744,
+              1.1666526622322553
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+            "current_z": 1.1666526622322553,
+            "required_z": 0.8611065080147661,
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+            "lift_margin": 0.3055461542174892,
+            "gripper_z": 1.1580611457538204,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114280303746088,
+              -0.05349649236510012,
+              1.1580611457538204
+            ],
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+              0.004590450309195859,
+              0.0047494961176613795,
+              0.008591516478434924
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+            "object_to_gripper_z": 0.008591516478434924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31601848068380467,
+              -0.07231505974753363,
+              1.1666526622322553
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+            "finger_b": [
+              0.3049347673286202,
+              -0.048746996247438744,
+              1.1666526622322553
+            ],
+            "finger_midpoint": [
+              0.31047662400621245,
+              -0.06053102799748619,
+              1.1666526622322553
+            ],
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+              0.005541856677592216,
+              0.011784031750047448,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836352349349497,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28934919475029947,
+              -0.3645111192348036,
+              0.8515395813726216
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+            "target_position": [
+              0.28128962976060023,
+              -0.3657395954076697,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008152652423014566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849002131039989,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395813726216,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583156437504542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677465221651569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523280061874,
+            "release_required_pad_clearance": 0.053387326108257846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7900741249970815,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2634499151880303,
+              0.14277237109376112,
+              0.8332594308224981
+            ],
+            "target_position": [
+              0.27444306170370536,
+              0.18905722964412958,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047572443718425006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675884231692118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332594308224981,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669184883545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365291062664084,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ef5ab11cc82d7368c6d213596bac94ac4fceb71aba335f36991dd3ec01bd94b",
+    "visual_seed": 485110201021860974,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d8142ae6abb4ba4741155ab79ce83d895fb0c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31197973225939796,
+              -0.050429422968414316,
+              1.16514300792003
+            ],
+            "current_z": 1.16514300792003,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30403649990526416,
+            "gripper_z": 1.1567635477012868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3073473804893908,
+              -0.054973220800227596,
+              1.1567635477012868
+            ],
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+              0.004632351770007148,
+              0.00454379783181328,
+              0.008379460218743251
+            ],
+            "object_to_gripper_xy": 0.006488819743025647,
+            "object_to_gripper_z": 0.008379460218743251,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31197973225939796,
+              -0.07428049162159392,
+              1.16514300792003
+            ],
+            "finger_b": [
+              0.3015429388595143,
+              -0.050429422968414316,
+              1.16514300792003
+            ],
+            "finger_midpoint": [
+              0.3067613355594561,
+              -0.06235495729500412,
+              1.16514300792003
+            ],
+            "object_minus_finger_midpoint": [
+              0.005218396699941841,
+              0.011925534326589805,
+              0.0
+            ],
+            "finger_gap": 0.02603459491466196,
+            "fingertip_max_gap": 0.09207251444594697,
+            "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": 1.16514300792003,
+            "object_top_z": 1.2149314033078582,
+            "finger_top_clearance": 0.0497883953878282,
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+            "object_projection_between_fingers": 0.839293840072154,
+            "object_to_finger_line_xy": 0.009561457618819644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048536257222973486,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9754506617199354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2843524683375658,
+              -0.36467656139388593,
+              0.8515396320997369
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+            "target_position": [
+              0.27746540032565276,
+              -0.36491183209713485,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006891085408302732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18197787793381187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396320997369,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530539944504056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678435629045848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503962095825665,
+            "release_required_pad_clearance": 0.053392178145229244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7996679669388682,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26590580274065767,
+              0.1361461643501641,
+              0.8338783845492675
+            ],
+            "target_position": [
+              0.2754372997951598,
+              0.18330122756185463,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0481087250153079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16895169265341808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338783845492675,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672919124605,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13846169848364237,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa46a4eb1ecc544eced818b7da957799b2d1929f057ca322d07b8395738c3725",
+    "visual_seed": 7912800863833210237,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea817bc6c8aab5caccf31759b3781c89a8dc433e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3130714699687166,
+              -0.050849359124214975,
+              1.1642928543649194
+            ],
+            "current_z": 1.1642928543649194,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3031863463501534,
+            "gripper_z": 1.1557383621940365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30855863166955977,
+              -0.05545297329805475,
+              1.1557383621940365
+            ],
+            "object_minus_gripper": [
+              0.0045128382991568294,
+              0.004603614173839775,
+              0.008554492170882888
+            ],
+            "object_to_gripper_xy": 0.006446624929055139,
+            "object_to_gripper_z": 0.008554492170882888,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3130714699687166,
+              -0.07451350391415887,
+              1.1642928543649194
+            ],
+            "finger_b": [
+              0.30239494037888415,
+              -0.050849359124214975,
+              1.1642928543649194
+            ],
+            "finger_midpoint": [
+              0.3077332051738004,
+              -0.06268143151918693,
+              1.1642928543649194
+            ],
+            "object_minus_finger_midpoint": [
+              0.005338264794916225,
+              0.01183207239497195,
+              0.0
+            ],
+            "finger_gap": 0.025961125413240402,
+            "fingertip_max_gap": 0.09183161695310124,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012980562706620204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642928543649194,
+            "object_top_z": 1.2141451101835186,
+            "finger_top_clearance": 0.0498522558185992,
+            "fingertip_min_top_clearance": 0.014955676745579726,
+            "object_projection_between_fingers": 0.8308729063942674,
+            "object_to_finger_line_xy": 0.009731894825293694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841580847655062,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6704444035882922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28596557887920765,
+              -0.36706229391129097,
+              0.8515395832973953
+            ],
+            "target_position": [
+              0.27883373876585354,
+              -0.3678208389469854,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071720662276378465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821423598183107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395832973953,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568303400365663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702619831649915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14975062963443464,
+            "release_required_pad_clearance": 0.053513099158249575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.038280090451069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
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+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25520493501521924,
+              0.14561708727654862,
+              0.8332994763368553
+            ],
+            "target_position": [
+              0.2671006100312192,
+              0.1911205133138406,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04703263617125441,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16651778220395058,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332994763368553,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676125315683,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361778411434843,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e2f8cb7c8554aa46e08cb648653ab10097d584c30199ec30201d16b9c8c739c",
+    "visual_seed": 704977627778778258,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e694120b5fdd2fe7b87787ec33a69ccbd2d249cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31280707915537304,
+              -0.04961733835392931,
+              1.1637022872918341
+            ],
+            "current_z": 1.1637022872918341,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3025957196724234,
+            "gripper_z": 1.1553584335059615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30824565336690246,
+              -0.0543407323965779,
+              1.1553584335059615
+            ],
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+              0.0045614257884705744,
+              0.004723394042648585,
+              0.008343853785872657
+            ],
+            "object_to_gripper_xy": 0.006566357933120349,
+            "object_to_gripper_z": 0.008343853785872657,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31280707915537304,
+              -0.0732238154709736,
+              1.1637022872918341
+            ],
+            "finger_b": [
+              0.30184160259225207,
+              -0.04961733835392931,
+              1.1637022872918341
+            ],
+            "finger_midpoint": [
+              0.30732434087381255,
+              -0.06142057691245146,
+              1.1637022872918341
+            ],
+            "object_minus_finger_midpoint": [
+              0.005482738281560484,
+              0.011803238558522146,
+              0.0
+            ],
+            "finger_gap": 0.02602897305184918,
+            "fingertip_max_gap": 0.09214052007634452,
+            "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": 1.1637022872918341,
+            "object_top_z": 1.213618176754247,
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+            "fingertip_min_top_clearance": 0.014974766838723896,
+            "object_projection_between_fingers": 0.8225234595393583,
+            "object_to_finger_line_xy": 0.00994492833233044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857026003817226,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7754057472853852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28847031856047284,
+              -0.3658570449983646,
+              0.8515395807700812
+            ],
+            "target_position": [
+              0.28100178885196136,
+              -0.36674219331722013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00752079939589478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832294499821653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395807700812,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549130404524029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627148336739442,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15138097723905272,
+            "release_required_pad_clearance": 0.05313574168369721,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2972217715203642,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
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+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2641576568732158,
+              0.1409089721058281,
+              0.83303678521085
+            ],
+            "target_position": [
+              0.2758503439475679,
+              0.1865503055607718,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047115286803372895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16592169418450076,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83303678521085,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673353357953,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362806237166253,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73d02097e50d84db9778d975b177a98ddef57f10d174a71689090a5ca72ec54d",
+    "visual_seed": 7044937458366119416,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca3b9ac762a272641b2be180f12dbd8d78674a68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3144448296929765,
+              -0.04117385725040811,
+              1.1636586973583176
+            ],
+            "current_z": 1.1636586973583176,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3025520701342622,
+            "gripper_z": 1.155275973388845,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30979010167095766,
+              -0.04584015697348663,
+              1.155275973388845
+            ],
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+              0.004654728022018828,
+              0.004666299723078519,
+              0.008382723969472705
+            ],
+            "object_to_gripper_xy": 0.006590967005270924,
+            "object_to_gripper_z": 0.008382723969472705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3144448296929765,
+              -0.06499631781291705,
+              1.1636586973583176
+            ],
+            "finger_b": [
+              0.30375362594258737,
+              -0.04117385725040811,
+              1.1636586973583176
+            ],
+            "finger_midpoint": [
+              0.30909922781778193,
+              -0.05308508753166258,
+              1.1636586973583176
+            ],
+            "object_minus_finger_midpoint": [
+              0.005345601875194561,
+              0.011911230281254466,
+              0.0
+            ],
+            "finger_gap": 0.026111519773552593,
+            "fingertip_max_gap": 0.09187169531718445,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013055759886776295,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636586973583176,
+            "object_top_z": 1.213526297706672,
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+            "fingertip_min_top_clearance": 0.014960280104506373,
+            "object_projection_between_fingers": 0.8323556532572008,
+            "object_to_finger_line_xy": 0.009753962309285397,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048435847658592227,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7683790225326923,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29188881686828255,
+              -0.3665535431863416,
+              0.8515395551172033
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+            "target_position": [
+              0.2843654177778751,
+              -0.36747075647538024,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00757910377888657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18587495851869199,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395551172033,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542764331362707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637448635733667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540305802636925,
+            "release_required_pad_clearance": 0.05318724317866834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3977118996494482,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26235807535093314,
+              0.1426031714207065,
+              0.8332539933890479
+            ],
+            "target_position": [
+              0.27319703027876024,
+              0.18933407625541515,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04797145412219713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16555230558390116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332539933890479,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674198844978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13482623644260391,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa087aebb8789e738343e6c3009548a2714148a52387db778e3fdf007d1433cd",
+    "visual_seed": 2700152905739773148,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..561be93504a31ef92eba2d6339a7d6bd78ba3837
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.313828839970705,
+              -0.048898409551555846,
+              1.1649380496102326
+            ],
+            "current_z": 1.1649380496102326,
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+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30383166080475643,
+            "gripper_z": 1.156494562710538,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.309155660554547,
+              -0.053641732030806744,
+              1.156494562710538
+            ],
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+              0.004673179416157969,
+              0.004743322479250897,
+              0.008443486899694541
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+            "object_to_gripper_z": 0.008443486899694541,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.313828839970705,
+              -0.07258628061137927,
+              1.1649380496102326
+            ],
+            "finger_b": [
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+              -0.048898409551555846,
+              1.1649380496102326
+            ],
+            "finger_midpoint": [
+              0.3083319650157146,
+              -0.06074234508146756,
+              1.1649380496102326
+            ],
+            "object_minus_finger_midpoint": [
+              0.005496874954990405,
+              0.011843935529911712,
+              0.0
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+            "finger_gap": 0.026114704142111644,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649380496102326,
+            "object_top_z": 1.21479701272645,
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+            "object_projection_between_fingers": 0.82277642766487,
+            "object_to_finger_line_xy": 0.009972103414016059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048395227099991736,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5558083254757389,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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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": {
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2843538883754372,
+              -0.3694662226602158,
+              0.8515395689549455
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+              0.2760428982379729,
+              -0.37057653556236747,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008384828668834745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18303045772885773,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689549455,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551917816481542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586998362018676,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15101895102614674,
+            "release_required_pad_clearance": 0.05293499181009338,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9074060795546732,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2613286702643363,
+              0.1367380389139669,
+              0.8323784067341556
+            ],
+            "target_position": [
+              0.2737660088737152,
+              0.1825857789855958,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047504764617456986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16485419666322929,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323784067341556,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567063580336,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1348459100271519,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "079cc23712506ac501276d07d5d3c8df3094d99510346e2326e05e6ee98ed9aa",
+    "visual_seed": 6538735564882120134,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5684a4029770c0b9944af2fb36f6a629a1b904d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31885512822042605,
+              -0.04852660700770256,
+              1.16364528096853
+            ],
+            "current_z": 1.16364528096853,
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+            "lift_margin": 0.3025387133491191,
+            "gripper_z": 1.1550789504659829,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3143153988941916,
+              -0.05311144842551106,
+              1.1550789504659829
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+              0.004539729326234476,
+              0.004584841417808502,
+              0.008566330502547181
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+            "object_to_gripper_xy": 0.006452124702911872,
+            "object_to_gripper_z": 0.008566330502547181,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31885512822042605,
+              -0.07221301591012871,
+              1.16364528096853
+            ],
+            "finger_b": [
+              0.3082155098617274,
+              -0.04852660700770256,
+              1.16364528096853
+            ],
+            "finger_midpoint": [
+              0.31353531904107673,
+              -0.06036981145891564,
+              1.16364528096853
+            ],
+            "object_minus_finger_midpoint": [
+              0.005319809179349322,
+              0.011843204451213077,
+              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": 0.009705448682546225,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867736022593912,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1438904171083792,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2895098459802855,
+              -0.37051678668130794,
+              0.8515395931911064
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+            "target_position": [
+              0.2821549449197619,
+              -0.3713326156608431,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007400009900935314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827162046741355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395931911064,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517741956628926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652103196313592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15163433003399746,
+            "release_required_pad_clearance": 0.05326051598156796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5410039091162022,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            0.00012391231902419975
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2681661057715936,
+              0.13845765975642405,
+              0.8336176254705606
+            ],
+            "target_position": [
+              0.27694299356008545,
+              0.18590196939623777,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04824931374071861,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16747355416398105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336176254705606,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674874206935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13599984464156478,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a158612926809db406b372478c858d620a48f9962706c9ceba4984ca2f52929c",
+    "visual_seed": 8161031280751535943,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae8448bd289b3d3c44c675976d65fcecc02fd61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_37_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3131474057621631,
+              -0.051680294201046806,
+              1.1660294145826784
+            ],
+            "current_z": 1.1660294145826784,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30492290656791243,
+            "gripper_z": 1.1574385880920197,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30860501709499066,
+              -0.05632568297167047,
+              1.1574385880920197
+            ],
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+              0.004542388667172437,
+              0.004645388770623662,
+              0.008590826490658676
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+            "object_to_gripper_xy": 0.006497147961520732,
+            "object_to_gripper_z": 0.008590826490658676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3131474057621631,
+              -0.07535716196593115,
+              1.1660294145826784
+            ],
+            "finger_b": [
+              0.3023955919476799,
+              -0.051680294201046806,
+              1.1660294145826784
+            ],
+            "finger_midpoint": [
+              0.3077714988549215,
+              -0.06351872808348898,
+              1.1660294145826784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005375906907241601,
+              0.01183843388244217,
+              0.0
+            ],
+            "finger_gap": 0.02600376064066755,
+            "fingertip_max_gap": 0.09163556626982886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8290413219713384,
+            "object_to_finger_line_xy": 0.009789709936033314,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831778313491443,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4898250921124927,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2878819688396062,
+              -0.3652571345300718,
+              0.8515395921795026
+            ],
+            "target_position": [
+              0.28054984912395353,
+              -0.36616671805164136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007388323335329439,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18462011642357257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395921795026,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578894435787144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770597379984578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15186241696155248,
+            "release_required_pad_clearance": 0.05385298689992289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7153654773022553,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28871009956806337,
+            -0.36510454531537245,
+            1.0434898951331555
+          ],
+          "object_origin_world": [
+            0.28871009956806337,
+            -0.36510454531537245,
+            1.0434898951331555
+          ],
+          "frame_world": [
+            0.28870861344447235,
+            -0.3651120458695852,
+            1.043367665385397
+          ],
+          "center_minus_frame": [
+            1.4861235910212933e-06,
+            7.500554212724886e-06,
+            0.000122229747758551
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26674045864278706,
+              0.13739952388229917,
+              0.8330471122098166
+            ],
+            "target_position": [
+              0.2766635393594245,
+              0.18457904258739005,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048211767403331336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17039034875352116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330471122098166,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668987212222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1401040588659922,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c3dc7cc0e70cc8f6dc0e6eae2bedf61b7b4d05bc9b523f175e703b71bf2793a",
+    "visual_seed": 2046448619269595871,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c30c85915458bc1b8223ca72f1989fa510750c6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31852464045336315,
+              -0.04857086115565285,
+              1.1665569326991392
+            ],
+            "current_z": 1.1665569326991392,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.305450424684373,
+            "gripper_z": 1.1580809668099779,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3138850854645986,
+              -0.05324265547493982,
+              1.1580809668099779
+            ],
+            "object_minus_gripper": [
+              0.00463955498876456,
+              0.004671794319286972,
+              0.00847596588916133
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+            "object_to_gripper_xy": 0.00658415770281151,
+            "object_to_gripper_z": 0.00847596588916133,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31852464045336315,
+              -0.07232271544848182,
+              1.1665569326991392
+            ],
+            "finger_b": [
+              0.30774984857295834,
+              -0.04857086115565285,
+              1.1665569326991392
+            ],
+            "finger_midpoint": [
+              0.3131372445131607,
+              -0.06044678830206733,
+              1.1665569326991392
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01187592714641448,
+              0.0
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+            "finger_gap": 0.02608153987811715,
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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": 1.2164248374007278,
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+            "object_projection_between_fingers": 0.8293323051170652,
+            "object_to_finger_line_xy": 0.009812353410683943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850329951909228,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.881947599139613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28646289540667724,
+              -0.3644737087164213,
+              0.8515395743222985
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+            "target_position": [
+              0.2791087056462548,
+              -0.36523663181007815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007393656651423397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18354096621039037,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395743222985,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562907696750486,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772708451210541,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15130780337354727,
+            "release_required_pad_clearance": 0.05386354225605271,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.736614248495308,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+            0.28730387101936145,
+            -0.36635276631436775,
+            1.0434909536624557
+          ],
+          "object_origin_world": [
+            0.28730387101936145,
+            -0.36635276631436775,
+            1.0434909536624557
+          ],
+          "frame_world": [
+            0.2873024466983749,
+            -0.36636022636506643,
+            1.0433689559852215
+          ],
+          "center_minus_frame": [
+            1.4243209865427708e-06,
+            7.4600506986821635e-06,
+            0.00012199767723419797
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26371361619423767,
+              0.14005340681138925,
+              0.833137114061577
+            ],
+            "target_position": [
+              0.27487521215529176,
+              0.18646251647503265,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047732448964723125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16803260692966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833137114061577,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668568546923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13749179869271114,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa5ef6a7bcf87a41dd3b4cf83afc6743dba3ccb6246afb5ae97fd4ba52f8b540",
+    "visual_seed": 4081743015599401299,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad497f72af79a8f2596cb8396a91b4ae9b6f125
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31451454138458523,
+              -0.043939887495201134,
+              1.1629263142388422
+            ],
+            "current_z": 1.1629263142388422,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3018198658287209,
+            "gripper_z": 1.154552053337694,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3098961864148285,
+              -0.048726373136089574,
+              1.154552053337694
+            ],
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+              0.0046183549697567106,
+              0.00478648564088844,
+              0.008374260901148123
+            ],
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+            "object_to_gripper_z": 0.008374260901148123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31451454138458523,
+              -0.06753315728703756,
+              1.1629263142388422
+            ],
+            "finger_b": [
+              0.3033822005455239,
+              -0.043939887495201134,
+              1.1629263142388422
+            ],
+            "finger_midpoint": [
+              0.30894837096505456,
+              -0.05573652239111934,
+              1.1629263142388422
+            ],
+            "object_minus_finger_midpoint": [
+              0.005566170419530669,
+              0.011796634895918208,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09186533109529024,
+            "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": 1.1629263142388422,
+            "object_top_z": 1.2127940429195783,
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+            "object_projection_between_fingers": 0.817904463794974,
+            "object_to_finger_line_xy": 0.010067874282295162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843266554764512,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6223182680203,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29161105401832155,
+              -0.3623222276066712,
+              0.8515395847002803
+            ],
+            "target_position": [
+              0.2830542859869329,
+              -0.3637436026386719,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008674017876658426,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846828784947976,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395847002803,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585757905222179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657263090946125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193352351673736,
+            "release_required_pad_clearance": 0.05328631545473063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5914772164983826,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
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+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29283497450328183,
+            -0.3622128655484424,
+            1.0435098092449473
+          ],
+          "object_origin_world": [
+            0.29283497450328183,
+            -0.3622128655484424,
+            1.0435098092449473
+          ],
+          "frame_world": [
+            0.2928334457349873,
+            -0.3622202238085766,
+            1.0433861868009473
+          ],
+          "center_minus_frame": [
+            1.528768294511984e-06,
+            7.358260134204819e-06,
+            0.00012362244399999334
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2593181242682583,
+              0.14194602115061433,
+              0.8328794192472929
+            ],
+            "target_position": [
+              0.2708599164674563,
+              0.1879862867396575,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047464924130131085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1647659319682184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328794192472929,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673331757164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342671213433773,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8e146bed48ea013a4d1526687693c65b104b291941057fcd4071736d13346d5",
+    "visual_seed": 4068145114248868598,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5eae9a7c7b7c20a8df728f5def174d98d4dd9ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3149090919218198,
+              -0.04090447977387145,
+              1.1640471407577597
+            ],
+            "current_z": 1.1640471407577597,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30294069234763854,
+            "gripper_z": 1.1556818793053956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3103159971877962,
+              -0.04545353786085306,
+              1.1556818793053956
+            ],
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+              0.0045930947340236394,
+              0.004549058086981611,
+              0.008365261452364159
+            ],
+            "object_to_gripper_xy": 0.006464553249409311,
+            "object_to_gripper_z": 0.008365261452364159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3149090919218198,
+              -0.06492916029246486,
+              1.1640471407577597
+            ],
+            "finger_b": [
+              0.3047164584769033,
+              -0.04090447977387145,
+              1.1640471407577597
+            ],
+            "finger_midpoint": [
+              0.30981277519936157,
+              -0.05291682003316815,
+              1.1640471407577597
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012012340259296705,
+              0.0
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+            "fingertip_max_gap": 0.09232284773980867,
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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": 1.1640471407577597,
+            "object_top_z": 1.2139287427504986,
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+            "object_projection_between_fingers": 0.8474620727090724,
+            "object_to_finger_line_xy": 0.009383104249763541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866142386990434,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1690722352889886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2878793965958814,
+              -0.36979945587118146,
+              0.8515395557704681
+            ],
+            "target_position": [
+              0.2819974406533998,
+              -0.3697975960463741,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005881956236512031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532326327733262,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395557704681,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526364621701848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08781042015677913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15377670297983248,
+            "release_required_pad_clearance": 0.05390521007838957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8202865516755335,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28892279530580384,
+            -0.37191965607945865,
+            1.0434602117454155
+          ],
+          "object_origin_world": [
+            0.28892279530580384,
+            -0.37191965607945865,
+            1.0434602117454155
+          ],
+          "frame_world": [
+            0.28892138798468286,
+            -0.3719274284978394,
+            1.0433361905253788
+          ],
+          "center_minus_frame": [
+            1.4073211209719716e-06,
+            7.772418380735946e-06,
+            0.00012402122003662974
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26323743642489006,
+              0.1410631039099422,
+              0.8326405567031171
+            ],
+            "target_position": [
+              0.275127552401947,
+              0.18711657475056998,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04756361040140263,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16631470146485328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326405567031171,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672889259509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1366756128840812,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "546ee3d26e7c2195950156b7f848ca35fcce900a9db1df729bb31328070098bf",
+    "visual_seed": 8951495675117457000,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc51e635952e60984dd63833b61bae06cd1ca07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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": [
+              0.31606445110890874,
+              -0.04176213444782772,
+              1.1651947929631974
+            ],
+            "current_z": 1.1651947929631974,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30408840415772076,
+            "gripper_z": 1.1567596925408297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31142580588201785,
+              -0.046431690493838274,
+              1.1567596925408297
+            ],
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+              0.004638645226890892,
+              0.004669556046010555,
+              0.008435100422367725
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+            "object_to_gripper_xy": 0.006581928532564858,
+            "object_to_gripper_z": 0.008435100422367725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31606445110890874,
+              -0.06557676758287023,
+              1.1651947929631974
+            ],
+            "finger_b": [
+              0.3053699586427687,
+              -0.04176213444782772,
+              1.1651947929631974
+            ],
+            "finger_midpoint": [
+              0.31071720487583876,
+              -0.05366945101534898,
+              1.1651947929631974
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01190731656752126,
+              0.0
+            ],
+            "finger_gap": 0.02610572581762458,
+            "fingertip_max_gap": 0.09187460229896807,
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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": 1.2150970791181823,
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+            "object_to_finger_line_xy": 0.009755921609911986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843730114948404,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7305907380940677,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29101856795046177,
+              -0.37088738964507917,
+              0.8515395470016366
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+            "target_position": [
+              0.2836557275096892,
+              -0.3716888171425089,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007406328738984818,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18206073506728188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395470016366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535898882853291,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716896478910206,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15045898969202798,
+            "release_required_pad_clearance": 0.05358448239455103,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1796841827909645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2888847447211918,
+            -0.3719883756596648,
+            1.0433908788902428
+          ],
+          "object_origin_world": [
+            0.2888847447211918,
+            -0.3719883756596648,
+            1.0433908788902428
+          ],
+          "frame_world": [
+            0.28888316207550657,
+            -0.371996448095237,
+            1.0432665660574503
+          ],
+          "center_minus_frame": [
+            1.5826456852274795e-06,
+            8.072435572215042e-06,
+            0.00012431283279257244
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2595531012155279,
+              0.14258774511366398,
+              0.83263933143773
+            ],
+            "target_position": [
+              0.2715556170512011,
+              0.188694447493453,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04764334571295375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16661258350589536,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83263933143773,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674968300434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13659260125098574,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ccf260dfdca8c3c5a529cf3ca3ca3aef19c99a49bcf9c9576054a2eabd085ee",
+    "visual_seed": 5260205440805418157,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..647e023651ae39444d3ff951a23e140f5c5da0c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3166915157435471,
+              -0.04833926286189403,
+              1.1625322247321668
+            ],
+            "current_z": 1.1625322247321668,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3014257763220455,
+            "gripper_z": 1.1540244700644375,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3120116448097011,
+              -0.052902113587756885,
+              1.1540244700644375
+            ],
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+              0.004679870933845975,
+              0.004562850725862856,
+              0.00850775466772924
+            ],
+            "object_to_gripper_xy": 0.006536114954922656,
+            "object_to_gripper_z": 0.00850775466772924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3166915157435471,
+              -0.07227437322935315,
+              1.1625322247321668
+            ],
+            "finger_b": [
+              0.3062950015337593,
+              -0.04833926286189403,
+              1.1625322247321668
+            ],
+            "finger_midpoint": [
+              0.3114932586386532,
+              -0.060306818045623586,
+              1.1625322247321668
+            ],
+            "object_minus_finger_midpoint": [
+              0.005198257104893911,
+              0.011967555183729557,
+              0.0
+            ],
+            "finger_gap": 0.02609553632360845,
+            "fingertip_max_gap": 0.09225280874402095,
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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": 1.1625322247321668,
+            "object_top_z": 1.212350471586186,
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+            "object_projection_between_fingers": 0.84127583578877,
+            "object_to_finger_line_xy": 0.009535796159245893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048626404372010476,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.030915629894695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28416685914170153,
+              -0.36921064871337705,
+              0.8515395663241119
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+            "target_position": [
+              0.27789225577015614,
+              -0.36940482790932316,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006277607269521335,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827784928163802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395663241119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563111977567355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0881931055070571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504783062630845,
+            "release_required_pad_clearance": 0.05409655275352855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2065529752411908,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2827237870058169,
+            -0.36927392065211423,
+            1.0434396004217859
+          ],
+          "object_origin_world": [
+            0.2827237870058169,
+            -0.36927392065211423,
+            1.0434396004217859
+          ],
+          "frame_world": [
+            0.2827486212890776,
+            -0.3692706148189174,
+            1.0437408798823962
+          ],
+          "center_minus_frame": [
+            -2.483428326066628e-05,
+            -3.305833196853847e-06,
+            -0.0003012794606103153
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25976182476429666,
+              0.13689767102195644,
+              0.8330804324458767
+            ],
+            "target_position": [
+              0.2705527348137022,
+              0.18348635943873154,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04782206214802657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16843344493197285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330804324458767,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672505470983,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13818237331558617,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c33b6ecda7d95bde9da22191de9441afaf429878a4dd8c3f6e1544033450c1fc",
+    "visual_seed": 1744959979635482499,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17181dabe8ce6d3240dcb033be8feed03be12a61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_53_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 53,
+  "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": [
+              0.31315589557569623,
+              -0.04573416691068967,
+              1.1662292738406066
+            ],
+            "current_z": 1.1662292738406066,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3051228254304854,
+            "gripper_z": 1.1578225493576122,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30860155800535,
+              -0.05033391896309178,
+              1.1578225493576122
+            ],
+            "object_minus_gripper": [
+              0.004554337570346234,
+              0.004599752052402109,
+              0.008406724482994399
+            ],
+            "object_to_gripper_xy": 0.0064729985051940695,
+            "object_to_gripper_z": 0.008406724482994399,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31315589557569623,
+              -0.06951554706785958,
+              1.1662292738406066
+            ],
+            "finger_b": [
+              0.3026031038012059,
+              -0.04573416691068967,
+              1.1662292738406066
+            ],
+            "finger_midpoint": [
+              0.3078794996884511,
+              -0.05762485698927462,
+              1.1662292738406066
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052763958872451555,
+              0.011890690078584953,
+              0.0
+            ],
+            "finger_gap": 0.0260175989748398,
+            "fingertip_max_gap": 0.09214491872292682,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8354869678623777,
+            "object_to_finger_line_xy": 0.009645776812506768,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857245936146341,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8593035599411427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28873133315589566,
+              -0.3685080133285068,
+              0.851539652599813
+            ],
+            "target_position": [
+              0.2819217789328588,
+              -0.3690338282289164,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006829825036263514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1838456233857291,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539652599813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756316614551096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712987592036713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15137803056096816,
+            "release_required_pad_clearance": 0.053564937960183565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1409155191797735,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2877217552795642,
+            -0.368647211313161,
+            1.0434733728267411
+          ],
+          "object_origin_world": [
+            0.2877217552795642,
+            -0.368647211313161,
+            1.0434733728267411
+          ],
+          "frame_world": [
+            0.28772017106631465,
+            -0.3686550038313874,
+            1.0433507647769873
+          ],
+          "center_minus_frame": [
+            1.5842132495280659e-06,
+            7.792518226357181e-06,
+            0.0001226080497538362
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2584747221850393,
+              0.1353638822163958,
+              0.8331586443481193
+            ],
+            "target_position": [
+              0.2696300337458701,
+              0.18181633520865248,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047773123877521556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16669114124262704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331586443481193,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673785795212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13655161035674948,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0590e98539df2378f2654208e90ba966ab1099d1f5fd9020e16f5b436a5184b7",
+    "visual_seed": 5321321257124984146,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..263a11cf0ed00a0150831ecbb922d50e33cbe912
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3150459653045083,
+              -0.05056148133570934,
+              1.1668770133468642
+            ],
+            "current_z": 1.1668770133468642,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30577056493674293,
+            "gripper_z": 1.158263886584336,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3106039095315811,
+              -0.05512530338634723,
+              1.158263886584336
+            ],
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+              0.004442055772927167,
+              0.004563822050637892,
+              0.008613126762528234
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+            "object_to_gripper_z": 0.008613126762528234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3150459653045083,
+              -0.07415342226391586,
+              1.1668770133468642
+            ],
+            "finger_b": [
+              0.30440024297648477,
+              -0.05056148133570934,
+              1.1668770133468642
+            ],
+            "finger_midpoint": [
+              0.30972310414049653,
+              -0.0623574517998126,
+              1.1668770133468642
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011795970464103259,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2167458367762107,
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+            "object_projection_between_fingers": 0.8308261989394178,
+            "object_to_finger_line_xy": 0.009703540565719124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048486243686430106,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7677477283158836,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28486398616273123,
+              -0.3626752690280519,
+              0.8515396074371954
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+            "target_position": [
+              0.2776219355389986,
+              -0.3633473237426216,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007273166763939993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18489223557345014,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396074371954,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552301562693924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682814353146455,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15269796999499863,
+            "release_required_pad_clearance": 0.05341407176573228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8426469483652201,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.283181126540678,
+            -0.3632259470185032,
+            1.0433356941104612
+          ],
+          "object_origin_world": [
+            0.283181126540678,
+            -0.3632259470185032,
+            1.0433356941104612
+          ],
+          "frame_world": [
+            0.283179901182186,
+            -0.36323267214348587,
+            1.0432160607102334
+          ],
+          "center_minus_frame": [
+            1.2253584920074445e-06,
+            6.725124982676078e-06,
+            0.00011963340022780322
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2579855431525197,
+              0.14528091007270721,
+              0.8335356470984815
+            ],
+            "target_position": [
+              0.2691342834274006,
+              0.1911701408763744,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047224103098618915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16643463302920947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335356470984815,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676558242646,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13516555919632328,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5df65dc9e598753a0e3384f5a685e120e3e980adfd5ce761e0b91afcf910757",
+    "visual_seed": 6986013625928673870,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0cd4d1aa50f0c76f4a21e56bf4169eb777c1d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31122520976225854,
+              -0.05004047987421914,
+              1.1665418178947644
+            ],
+            "current_z": 1.1665418178947644,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30543530987999845,
+            "gripper_z": 1.1583448135373056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30644338447381814,
+              -0.0546758898463746,
+              1.1583448135373056
+            ],
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+              0.0047818252884404,
+              0.00463540997215546,
+              0.008197004357458848
+            ],
+            "object_to_gripper_xy": 0.006659795694998939,
+            "object_to_gripper_z": 0.008197004357458848,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31122520976225854,
+              -0.07416168902740787,
+              1.1665418178947644
+            ],
+            "finger_b": [
+              0.30085819728326246,
+              -0.05004047987421914,
+              1.1665418178947644
+            ],
+            "finger_midpoint": [
+              0.3060417035227605,
+              -0.062101084450813505,
+              1.1665418178947644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005183506239498037,
+              0.012060604576594365,
+              0.0
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+            "finger_gap": 0.02625466965611139,
+            "fingertip_max_gap": 0.09215478271894004,
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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": 1.1665418178947644,
+            "object_top_z": 1.2164043849961823,
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+            "fingertip_min_top_clearance": 0.014958770130425335,
+            "object_projection_between_fingers": 0.8440827644132483,
+            "object_to_finger_line_xy": 0.009524586657344314,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857739135947002,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0442832228208854,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2896170815351502,
+              -0.3692918884082015,
+              0.8515396092966918
+            ],
+            "target_position": [
+              0.2831024975368173,
+              -0.36961944672505864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006522813742724614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457338763760853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396092966918,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525220359731047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08785726240733487,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530490612959197,
+            "release_required_pad_clearance": 0.053928631203667435,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8673543494063725,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2886992078394607,
+            -0.36996072684875686,
+            1.0435172135785307
+          ],
+          "object_origin_world": [
+            0.2886992078394607,
+            -0.36996072684875686,
+            1.0435172135785307
+          ],
+          "frame_world": [
+            0.28869765032728584,
+            -0.3699683865625811,
+            1.0433937760125183
+          ],
+          "center_minus_frame": [
+            1.5575121748434562e-06,
+            7.659713824215153e-06,
+            0.00012343756601240763
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2615308873766744,
+              0.13948586018060885,
+              0.8334901493010749
+            ],
+            "target_position": [
+              0.27188886823491054,
+              0.18565181303910677,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04731366579322129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16498061911786635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334901493010749,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567300130866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1339993101940739,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef957929e3cb7185f0892877d5ab087493489d4e452ed91802b451b06ead1a49",
+    "visual_seed": 6309720924198375647,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb644dc0678873fa74de85b275b40b3c50bac344
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3192448086198892,
+              -0.04235876664255504,
+              1.1655081706403667
+            ],
+            "current_z": 1.1655081706403667,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30440172223024564,
+            "gripper_z": 1.1568957326475973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3146433917859093,
+              -0.0470768255944069,
+              1.1568957326475973
+            ],
+            "object_minus_gripper": [
+              0.00460141683397991,
+              0.004718058951851858,
+              0.00861243799276945
+            ],
+            "object_to_gripper_xy": 0.006590380653132499,
+            "object_to_gripper_z": 0.00861243799276945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3192448086198892,
+              -0.06612131886116242,
+              1.1655081706403667
+            ],
+            "finger_b": [
+              0.3084451410035536,
+              -0.04235876664255504,
+              1.1655081706403667
+            ],
+            "finger_midpoint": [
+              0.31384497481172136,
+              -0.05424004275185873,
+              1.1655081706403667
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399833808167831,
+              0.011881276109303687,
+              0.0
+            ],
+            "finger_gap": 0.026101565251252082,
+            "fingertip_max_gap": 0.09173111064800696,
+            "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": 1.1655081706403667,
+            "object_top_z": 1.2154159591513958,
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+            "fingertip_min_top_clearance": 0.014972336553308718,
+            "object_projection_between_fingers": 0.8288063407245518,
+            "object_to_finger_line_xy": 0.009831887980912066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836555532400348,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4810578047581104,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.292977237697579,
+              -0.3691852014115663,
+              0.8515395712935235
+            ],
+            "target_position": [
+              0.28511526818419247,
+              -0.37012768503097787,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007918259909997795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326028700356115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395712935235,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752231592945617,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857332594000793,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152051204843962,
+            "release_required_pad_clearance": 0.05286662970003965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.775307737950809,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2940883235153648,
+            -0.3700484556183587,
+            1.043341326312043
+          ],
+          "object_origin_world": [
+            0.2940883235153648,
+            -0.3700484556183587,
+            1.043341326312043
+          ],
+          "frame_world": [
+            0.2941126409931902,
+            -0.37004554879530255,
+            1.0436357711015636
+          ],
+          "center_minus_frame": [
+            -2.431747782538629e-05,
+            -2.906823056147978e-06,
+            -0.00029444478952056485
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2599756621670367,
+              0.13858468654347414,
+              0.8331202532139841
+            ],
+            "target_position": [
+              0.26935537869179305,
+              0.1855466280551719,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04788948770484927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17027733221816418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331202532139841,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673872658284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1399947041781878,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53a7db2141fbc53e6f6ac3ba4e113a58768755ce3f2be3802caaf7d35b6d47f8",
+    "visual_seed": 3188902001456686269,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c93f6ea84c526cbff4a3da869fe5f09c207842
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_58_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.31517046630335266,
+              -0.04975429911367757,
+              1.1638674602168213
+            ],
+            "current_z": 1.1638674602168213,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30276095220205546,
+            "gripper_z": 1.155354859522427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105016950767948,
+              -0.054395949363165996,
+              1.155354859522427
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+              0.004668771226557844,
+              0.004641650249488427,
+              0.008512600694394301
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+            "object_to_gripper_xy": 0.006583490092990982,
+            "object_to_gripper_z": 0.008512600694394301,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31517046630335266,
+              -0.07356241310755565,
+              1.1638674602168213
+            ],
+            "finger_b": [
+              0.3044887876080275,
+              -0.04975429911367757,
+              1.1638674602168213
+            ],
+            "finger_midpoint": [
+              0.30982962695569005,
+              -0.06165835611061661,
+              1.1638674602168213
+            ],
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+              0.005340839347662607,
+              0.011904056996939041,
+              0.0
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+            "finger_gap": 0.026094531068705885,
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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": 0.8324362670342362,
+            "object_to_finger_line_xy": 0.009745744169714755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048315305344912504,
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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": 348,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "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": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28769375619406085,
+              -0.36475449584656516,
+              0.8515395792256755
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+            "target_position": [
+              0.28021707036669313,
+              -0.3656727551691503,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007532863409399892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18371530060007865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395792256755,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568521685873697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08700369717764438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15118904462992067,
+            "release_required_pad_clearance": 0.05350184858882219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0158843866270435,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28851000442497254,
+            -0.36319489314374837,
+            1.0435070913435573
+          ],
+          "object_origin_world": [
+            0.28851000442497254,
+            -0.36319489314374837,
+            1.0435070913435573
+          ],
+          "frame_world": [
+            0.28850848015815256,
+            -0.3632023819217448,
+            1.043384976777966
+          ],
+          "center_minus_frame": [
+            1.5242668199855203e-06,
+            7.488777996444984e-06,
+            0.00012211456559141354
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.260885238120725,
+              0.13812018397923662,
+              0.8329894205438988
+            ],
+            "target_position": [
+              0.27284768431625145,
+              0.18420640697311635,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047613444202477886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16598586289446102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329894205438988,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671265999866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13561402184268562,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3790c1a429b6e971072746a257a88f919266b8210e7de84e9720df9e0a203a80",
+    "visual_seed": 8300739728680156348,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8090bf380c149dfe7d8be19c95d634ed78d40dd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_5_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3113620893011002,
+              -0.043813938116434435,
+              1.1628195163948152
+            ],
+            "current_z": 1.1628195163948152,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3017130679846938,
+            "gripper_z": 1.154540263007724,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3067262668147174,
+              -0.04844632984268027,
+              1.154540263007724
+            ],
+            "object_minus_gripper": [
+              0.0046358224863828346,
+              0.004632391726245834,
+              0.008279253387091234
+            ],
+            "object_to_gripper_xy": 0.006553617568232341,
+            "object_to_gripper_z": 0.008279253387091234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3113620893011002,
+              -0.06756168228664687,
+              1.1628195163948152
+            ],
+            "finger_b": [
+              0.30064824629663295,
+              -0.043813938116434435,
+              1.1628195163948152
+            ],
+            "finger_midpoint": [
+              0.30600516779886655,
+              -0.05568781020154065,
+              1.1628195163948152
+            ],
+            "object_minus_finger_midpoint": [
+              0.005356921502233658,
+              0.011873872085106214,
+              0.0
+            ],
+            "finger_gap": 0.026052673281224535,
+            "fingertip_max_gap": 0.09201768786499218,
+            "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": 1.1628195163948152,
+            "object_top_z": 1.2126552708010725,
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+            "object_projection_between_fingers": 0.8308835046780573,
+            "object_to_finger_line_xy": 0.009765969119693735,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850884393249609,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8553040938429954,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29329996990110757,
+              -0.36760489969884924,
+              0.8515395746613744
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+            "target_position": [
+              0.2858273537455811,
+              -0.3685256047397356,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007529122789551831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18517018245452146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746613744,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534507734179646,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608185982455617,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536023048870622,
+            "release_required_pad_clearance": 0.05304092991227809,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+              "rod_tip_xy_range": 0.0006000779271841404,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29317523818927893,
+            -0.36675406046767717,
+            1.0434735144824345
+          ],
+          "object_origin_world": [
+            0.29317523818927893,
+            -0.36675406046767717,
+            1.0434735144824345
+          ],
+          "frame_world": [
+            0.29317373901639676,
+            -0.36676175047378967,
+            1.0433488029874856
+          ],
+          "center_minus_frame": [
+            1.499172882168942e-06,
+            7.690006112504033e-06,
+            0.00012471149494897027
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26542007491108716,
+              0.14152340072835995,
+              0.8328013971085393
+            ],
+            "target_position": [
+              0.2756684447799634,
+              0.18833478699014577,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047920089406421194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16689450998232502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328013971085393,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670947129451,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13668007732779205,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4811ac6a462b76d081dc310ffee9fe061b38cb6d89809ccf3eebbd86d1223113",
+    "visual_seed": 5298374137230160882,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d93c856dedde58a30b385e6686da1fcbe30016
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3102294243780341,
+              -0.047020589073140884,
+              1.1639905843931166
+            ],
+            "current_z": 1.1639905843931166,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3028840167737057,
+            "gripper_z": 1.1556463049004022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30571190570209095,
+              -0.05170616892896618,
+              1.1556463049004022
+            ],
+            "object_minus_gripper": [
+              0.004517518675943133,
+              0.004685579855825295,
+              0.008344279492714435
+            ],
+            "object_to_gripper_xy": 0.006508658354285528,
+            "object_to_gripper_z": 0.008344279492714435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3102294243780341,
+              -0.07063195269298653,
+              1.1639905843931166
+            ],
+            "finger_b": [
+              0.29937777522713455,
+              -0.047020589073140884,
+              1.1639905843931166
+            ],
+            "finger_midpoint": [
+              0.3048035998025843,
+              -0.058826270883063705,
+              1.1639905843931166
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425824575449767,
+              0.011805681809922822,
+              0.0
+            ],
+            "finger_gap": 0.02598566491900465,
+            "fingertip_max_gap": 0.09206981964636904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012992832459502324,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639905843931166,
+            "object_top_z": 1.2139340254894186,
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+            "fingertip_min_top_clearance": 0.014983032328890632,
+            "object_projection_between_fingers": 0.8256090996193882,
+            "object_to_finger_line_xy": 0.00986013768650923,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853490982318452,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.685102551913522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2849394011730849,
+              -0.36581362480508084,
+              0.8515395655451983
+            ],
+            "target_position": [
+              0.27907975411414715,
+              -0.3657102150498055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006074177211261285,
+              "rod_tip_xy_max_step": 3.302070758646195e-05,
+              "rod_tip_xy_range": 0.0006074128983147438,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2840821322513135,
+            -0.366654906164326,
+            1.0434262868321675
+          ],
+          "object_origin_world": [
+            0.2840821322513135,
+            -0.366654906164326,
+            1.0434262868321675
+          ],
+          "frame_world": [
+            0.28410705693920935,
+            -0.36665174817300006,
+            1.043728533364008
+          ],
+          "center_minus_frame": [
+            -2.492468789583313e-05,
+            -3.1579913259416337e-06,
+            -0.0003022465318405221
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2600936276424717,
+              0.14595303630819487,
+              0.833085768859681
+            ],
+            "target_position": [
+              0.2715261689306965,
+              0.19158491715133846,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04704223155410275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16708043535493938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833085768859681,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672754052591,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1363627730352329,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "389ebad6d7afdbf9f74e736152f7d12941285d50ae91dc71eb6a9e62fdc0ca61",
+    "visual_seed": 4013831459974681139,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9caf90606c90061ca298bd5b1239bfb4b4b21d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_63_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31122430407641266,
+              -0.04559992425793419,
+              1.1653340085763255
+            ],
+            "current_z": 1.1653340085763255,
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+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30422750056155967,
+            "gripper_z": 1.1569123802500392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3065999836486055,
+              -0.05014137888637339,
+              1.1569123802500392
+            ],
+            "object_minus_gripper": [
+              0.004624320427807138,
+              0.004541454628439204,
+              0.008421628326286346
+            ],
+            "object_to_gripper_xy": 0.00648144656393974,
+            "object_to_gripper_z": 0.008421628326286346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31122430407641266,
+              -0.06949939649270673,
+              1.1653340085763255
+            ],
+            "finger_b": [
+              0.30085289096150314,
+              -0.04559992425793419,
+              1.1653340085763255
+            ],
+            "finger_midpoint": [
+              0.3060385975189579,
+              -0.05754966037532046,
+              1.1653340085763255
+            ],
+            "object_minus_finger_midpoint": [
+              0.005185706557454761,
+              0.01194973611738627,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09197860768909424,
+            "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": 1.1653340085763255,
+            "object_top_z": 1.2151715644790624,
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+            "fingertip_min_top_clearance": 0.014951266770821092,
+            "object_projection_between_fingers": 0.8415233087269859,
+            "object_to_finger_line_xy": 0.009514172215517248,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048489303844547124,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8725772243664585,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2863019914768143,
+              -0.3680635232257383,
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+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006077864236275696,
+              "rod_tip_xy_max_step": 3.295613934997241e-05,
+              "rod_tip_xy_range": 0.0006077789926449936,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.286730399201046,
+            -0.3665988962669581,
+            1.0435175273912485
+          ],
+          "object_origin_world": [
+            0.286730399201046,
+            -0.3665988962669581,
+            1.0435175273912485
+          ],
+          "frame_world": [
+            0.2867289051875742,
+            -0.36660647660679957,
+            1.0433956903418677
+          ],
+          "center_minus_frame": [
+            1.4940134717700282e-06,
+            7.580339841495309e-06,
+            0.00012183704938073525
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26293064676600886,
+              0.13568761269128193,
+              0.8330923747605262
+            ],
+            "target_position": [
+              0.2743158063646404,
+              0.18193290799895345,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047626139851766884,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1652636671676175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330923747605262,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671242681069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1348618973410181,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5cb7caa32d79143ec934d30751e890565f97bec429f4426f278c835cde213a3",
+    "visual_seed": 7324565262234036195,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83484f6b88af50cd07446355804153e276964492
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "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": [
+              0.3132278311230155,
+              -0.04554594817209205,
+              1.163488152747263
+            ],
+            "current_z": 1.163488152747263,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3023817043371415,
+            "gripper_z": 1.155254322773473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30843564457543465,
+              -0.05024950166411314,
+              1.155254322773473
+            ],
+            "object_minus_gripper": [
+              0.004792186547580846,
+              0.00470355349202109,
+              0.008233829973789852
+            ],
+            "object_to_gripper_xy": 0.006714794662468735,
+            "object_to_gripper_z": 0.008233829973789852,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3132278311230155,
+              -0.06961101802663361,
+              1.163488152747263
+            ],
+            "finger_b": [
+              0.3026736001112591,
+              -0.04554594817209205,
+              1.163488152747263
+            ],
+            "finger_midpoint": [
+              0.30795071561713727,
+              -0.05757848309936283,
+              1.163488152747263
+            ],
+            "object_minus_finger_midpoint": [
+              0.005277115505878227,
+              0.012032534927270779,
+              0.0
+            ],
+            "finger_gap": 0.026277735430464425,
+            "fingertip_max_gap": 0.09192803177635714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138867715232223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163488152747263,
+            "object_top_z": 1.2133329789692229,
+            "finger_top_clearance": 0.04984482622195996,
+            "fingertip_min_top_clearance": 0.01495344786658802,
+            "object_projection_between_fingers": 0.8386840462699053,
+            "object_to_finger_line_xy": 0.009665532527754737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846401588817857,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.85775030737383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006036200870124937,
+              "rod_tip_xy_max_step": 3.2879839130124044e-05,
+              "rod_tip_xy_range": 0.0006036145227154516,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28612170991722335,
+            -0.3715080736740056,
+            1.0435283330975735
+          ],
+          "object_origin_world": [
+            0.28612170991722335,
+            -0.3715080736740056,
+            1.0435283330975735
+          ],
+          "frame_world": [
+            0.2861201154082076,
+            -0.37151610917402644,
+            1.0434053047802392
+          ],
+          "center_minus_frame": [
+            1.5945090157676312e-06,
+            8.035500020819875e-06,
+            0.0001230283173343505
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25729901423142926,
+              0.14666238078664917,
+              0.834248105735041
+            ],
+            "target_position": [
+              0.2699404547236187,
+              0.1914099572377822,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04649894209514409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1624536726819518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834248105735041,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676223069341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13210596339959052,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "890e2946b4063dff59f0a1eb38000afd10c495f7ee501dc73c7438f7ee714081",
+    "visual_seed": 3531402933635483885,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec54320e000ffffba8f2fa3c862eceaae8131d99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31781592190286095,
+              -0.04677723018376977,
+              1.164926696860105
+            ],
+            "current_z": 1.164926696860105,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30382012924069446,
+            "gripper_z": 1.156371906097391,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31318909509380644,
+              -0.05141381292201684,
+              1.156371906097391
+            ],
+            "object_minus_gripper": [
+              0.004626826809054518,
+              0.004636582738247068,
+              0.008554790762714148
+            ],
+            "object_to_gripper_xy": 0.006550223340436286,
+            "object_to_gripper_z": 0.008554790762714148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31781592190286095,
+              -0.07057580221155113,
+              1.164926696860105
+            ],
+            "finger_b": [
+              0.307169784653079,
+              -0.04677723018376977,
+              1.164926696860105
+            ],
+            "finger_midpoint": [
+              0.31249285327796994,
+              -0.058676516197660455,
+              1.164926696860105
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323068624891014,
+              0.011899286013890682,
+              0.0
+            ],
+            "finger_gap": 0.026071292045134482,
+            "fingertip_max_gap": 0.09188022583532843,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013035646022567255,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164926696860105,
+            "object_top_z": 1.2147711885957946,
+            "finger_top_clearance": 0.0498444917356895,
+            "fingertip_min_top_clearance": 0.01495334752070685,
+            "object_projection_between_fingers": 0.8332526224307111,
+            "object_to_finger_line_xy": 0.009718078556212786,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048440112917664216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6494948396466935,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+                "bottom_clearance": 0.07976406940608471,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006029492173677952,
+              "rod_tip_xy_max_step": 3.294777548542308e-05,
+              "rod_tip_xy_range": 0.0006029425352268706,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2889778081116128,
+            -0.37061080067485364,
+            1.043468344848839
+          ],
+          "object_origin_world": [
+            0.2889778081116128,
+            -0.37061080067485364,
+            1.043468344848839
+          ],
+          "frame_world": [
+            0.2889762304365723,
+            -0.37061884934330586,
+            1.0433444040982396
+          ],
+          "center_minus_frame": [
+            1.5776750404983275e-06,
+            8.048668452220742e-06,
+            0.00012394075059951604
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2631953301717879,
+              0.1436126834232447,
+              0.83293436024715
+            ],
+            "target_position": [
+              0.2739817362566758,
+              0.19029105479177144,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04790842211810156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1687983892516687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83293436024715,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670874398654,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13819397219321372,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9c61bb35f6a5d9267c4d88861beb84b83c6a6e9d73969afabaf374632f0a31a",
+    "visual_seed": 1279953343064712723,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96464ccca2a3c7543cbc1f7b70e79c95942da45e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31623411852880384,
+              -0.04405263206636704,
+              1.1666896652902814
+            ],
+            "current_z": 1.1666896652902814,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30558321688016,
+            "gripper_z": 1.1581009274508676,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3116745611050449,
+              -0.04869997803272895,
+              1.1581009274508676
+            ],
+            "object_minus_gripper": [
+              0.004559557423758964,
+              0.004647345966361911,
+              0.00858873783941383
+            ],
+            "object_to_gripper_xy": 0.006510559763308821,
+            "object_to_gripper_z": 0.00858873783941383,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31623411852880384,
+              -0.067705263504429,
+              1.1666896652902814
+            ],
+            "finger_b": [
+              0.3054357907726073,
+              -0.04405263206636704,
+              1.1666896652902814
+            ],
+            "finger_midpoint": [
+              0.31083495465070554,
+              -0.05587894778539802,
+              1.1666896652902814
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399163878098301,
+              0.011826315719030984,
+              0.0
+            ],
+            "finger_gap": 0.026000977986895837,
+            "fingertip_max_gap": 0.09172737336493089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013000488993447933,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666896652902814,
+            "object_top_z": 1.2165821728228128,
+            "finger_top_clearance": 0.04989250753253138,
+            "fingertip_min_top_clearance": 0.014967752259759382,
+            "object_projection_between_fingers": 0.8275220255282006,
+            "object_to_finger_line_xy": 0.00982304845200186,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836368668246545,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4798149325762509,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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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+                  0.2846914603654044,
+                  -0.36272965518487527,
+                  1.0016420540704774
+                ],
+                "rod_tip_xy_dist": 0.0015567286839633626,
+                "target_xy_drift": 4.329177597291885e-08,
+                "depth": 0.019485455678171504,
+                "bottom_clearance": 0.07995507487544218,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006036420484431557,
+              "rod_tip_xy_max_step": 3.2714467755971616e-05,
+              "rod_tip_xy_range": 0.000603634518746197,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28432875403142616,
+            -0.36407060091861143,
+            1.0433177143909225
+          ],
+          "object_origin_world": [
+            0.28432875403142616,
+            -0.36407060091861143,
+            1.0433177143909225
+          ],
+          "frame_world": [
+            0.2843274629375958,
+            -0.36407766198821007,
+            1.0431971877190551
+          ],
+          "center_minus_frame": [
+            1.2910938303467567e-06,
+            7.061069598635061e-06,
+            0.00012052667186734922
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2543544695398458,
+              0.14356626468318165,
+              0.8330579278086103
+            ],
+            "target_position": [
+              0.26717765695347745,
+              0.18924124203436699,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04744088628468501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16410601891854687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330579278086103,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567728302675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13434557664043706,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ab65e45bef7faccf0e3c55fdae305e3b8ee713842f570c40638460a35b251d5",
+    "visual_seed": 8862600883854227404,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8948980cab4dbd654a0531ae70e3c85de2d9a0fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3184345345584551,
+              -0.047034172865602776,
+              1.1651104516150208
+            ],
+            "current_z": 1.1651104516150208,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30400394360025496,
+            "gripper_z": 1.1566142739096235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31371253309812475,
+              -0.051833652733588836,
+              1.1566142739096235
+            ],
+            "object_minus_gripper": [
+              0.004722001460330361,
+              0.00479947986798606,
+              0.008496177705397345
+            ],
+            "object_to_gripper_xy": 0.006732926911423111,
+            "object_to_gripper_z": 0.008496177705397345,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3184345345584551,
+              -0.07071768210442657,
+              1.1651104516150208
+            ],
+            "finger_b": [
+              0.30730912366447743,
+              -0.047034172865602776,
+              1.1651104516150208
+            ],
+            "finger_midpoint": [
+              0.31287182911146627,
+              -0.058875927485014676,
+              1.1651104516150208
+            ],
+            "object_minus_finger_midpoint": [
+              0.005562705446988836,
+              0.0118417546194119,
+              0.0
+            ],
+            "finger_gap": 0.026166455194108526,
+            "fingertip_max_gap": 0.09159486324186414,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013083227597054265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651104516150208,
+            "object_top_z": 1.214967351940866,
+            "finger_top_clearance": 0.04985690032584511,
+            "fingertip_min_top_clearance": 0.0149570700977535,
+            "object_projection_between_fingers": 0.8192233495936695,
+            "object_to_finger_line_xy": 0.010069715967967897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829743162093207,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3876719769559294,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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+                  -0.00042643641316958414,
+                  -0.00044278024214111644
+                ],
+                "rod_tip_xy": [
+                  0.285419199072759,
+                  -0.36875477152216524
+                ],
+                "target_mouth_xy": [
+                  0.28584563548592856,
+                  -0.3683119912800241
+                ],
+                "gripper_position": [
+                  0.285433404719274,
+                  -0.36883076569784984,
+                  1.000926390153971
+                ],
+                "rod_tip_xy_dist": 0.0006147376329032459,
+                "target_xy_drift": 3.0502901086391197e-08,
+                "depth": 0.019725461870078953,
+                "bottom_clearance": 0.07971513851755019,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006080681936726759,
+              "rod_tip_xy_max_step": 3.3156059988671405e-05,
+              "rod_tip_xy_range": 0.0006080576543511612,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2850161131098218,
+            -0.3702040355516197,
+            1.0435013320478739
+          ],
+          "object_origin_world": [
+            0.2850161131098218,
+            -0.3702040355516197,
+            1.0435013320478739
+          ],
+          "frame_world": [
+            0.285014676921895,
+            -0.3702119257282678,
+            1.0433790042418105
+          ],
+          "center_minus_frame": [
+            1.4361879267510425e-06,
+            7.890176648095437e-06,
+            0.00012232780606336036
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26408710674822095,
+              0.14199548293043793,
+              0.8327943091850132
+            ],
+            "target_position": [
+              0.27681227435735245,
+              0.18713789139663933,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046901673027834115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16478810987188514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327943091850132,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676020941795,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13551084248913178,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c21b09128bde1778f9f48ff0f7c630d9e3292d1372b9c0793569081f92a75ab4",
+    "visual_seed": 1684113435341166365,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..befb93c382b97a0ea4c02b9c3cb6770487781a08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_70_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3165585804509381,
+              -0.047770820833969566,
+              1.164963384879317
+            ],
+            "current_z": 1.164963384879317,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.303856876864551,
+            "gripper_z": 1.1564632063100535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31197145415220223,
+              -0.052327602507453094,
+              1.1564632063100535
+            ],
+            "object_minus_gripper": [
+              0.004587126298735866,
+              0.004556781673483529,
+              0.00850017856926355
+            ],
+            "object_to_gripper_xy": 0.006465754936614097,
+            "object_to_gripper_z": 0.00850017856926355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3165585804509381,
+              -0.07158331171228412,
+              1.164963384879317
+            ],
+            "finger_b": [
+              0.3060856784215844,
+              -0.047770820833969566,
+              1.164963384879317
+            ],
+            "finger_midpoint": [
+              0.31132212943626125,
+              -0.05967706627312684,
+              1.164963384879317
+            ],
+            "object_minus_finger_midpoint": [
+              0.005236451014676846,
+              0.011906245439157276,
+              0.0
+            ],
+            "finger_gap": 0.026013773250842608,
+            "fingertip_max_gap": 0.09205938162322388,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013006886625421304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164963384879317,
+            "object_top_z": 1.2148318760492434,
+            "finger_top_clearance": 0.04986849116992631,
+            "fingertip_min_top_clearance": 0.014960547350977892,
+            "object_projection_between_fingers": 0.8379207639719581,
+            "object_to_finger_line_xy": 0.009586686315695822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048529690811611945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.873580633049097,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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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+                "bottom_clearance": 0.08036493673420642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014505107787994298,
+                  0.0026361966116357216
+                ],
+                "rod_tip_xy": [
+                  0.2860968810657057,
+                  -0.3687229285680014
+                ],
+                "target_mouth_xy": [
+                  0.28464637028690626,
+                  -0.3713591251796371
+                ],
+                "gripper_position": [
+                  0.2861151299104163,
+                  -0.36879982860864685,
+                  1.0015292734436334
+                ],
+                "rod_tip_xy_dist": 0.0030089057968990967,
+                "target_xy_drift": 3.1758174372176657e-08,
+                "depth": 0.019210473837059205,
+                "bottom_clearance": 0.08023006796782839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014687598554826153,
+                  0.00255929466385435
+                ],
+                "rod_tip_xy": [
+                  0.2861151299104164,
+                  -0.3687998286086468
+                ],
+                "target_mouth_xy": [
+                  0.28464637005493376,
+                  -0.37135912327250115
+                ],
+                "gripper_position": [
+                  0.28610367642791246,
+                  -0.3688083789225356,
+                  1.0013751001182252
+                ],
+                "rod_tip_xy_dist": 0.002950804075080327,
+                "target_xy_drift": 2.985676949542435e-08,
+                "depth": 0.019730562815658437,
+                "bottom_clearance": 0.07971005433821976,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006030860433831726,
+              "rod_tip_xy_max_step": 3.270410256633251e-05,
+              "rod_tip_xy_range": 0.0006030754971455699,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2857581341588664,
+            -0.3701240673294838,
+            1.0434226893466063
+          ],
+          "object_origin_world": [
+            0.2857581341588664,
+            -0.3701240673294838,
+            1.0434226893466063
+          ],
+          "frame_world": [
+            0.2857829594550624,
+            -0.3701199014933327,
+            1.0437231299281278
+          ],
+          "center_minus_frame": [
+            -2.4825296195962743e-05,
+            -4.165836151093227e-06,
+            -0.00030044058152145503
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2673663538791047,
+              0.1411029444656669,
+              0.8339133523079868
+            ],
+            "target_position": [
+              0.2760348665052406,
+              0.1879587220436233,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047650886703023684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16937085352970555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339133523079868,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668840229727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137863193404603,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4338ef66391a0d4007d0f1ce94531d2821d6900d14a6404f1fa342efff49891a",
+    "visual_seed": 8952962211376829484,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c398d46120c55702ab7a42f8044b1188848897
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_71_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 71,
+  "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": [
+              0.31220208111521064,
+              -0.0467296234002856,
+              1.1635444983629943
+            ],
+            "current_z": 1.1635444983629943,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30243810955751815,
+            "gripper_z": 1.1553088201050643,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30757747428853766,
+              -0.05144319938788135,
+              1.1553088201050643
+            ],
+            "object_minus_gripper": [
+              0.004624606826672983,
+              0.004713575987595746,
+              0.008235678257930035
+            ],
+            "object_to_gripper_xy": 0.006603392074695367,
+            "object_to_gripper_z": 0.008235678257930035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31220208111521064,
+              -0.07040048908156199,
+              1.1635444983629943
+            ],
+            "finger_b": [
+              0.30126971096208066,
+              -0.0467296234002856,
+              1.1635444983629943
+            ],
+            "finger_midpoint": [
+              0.30673589603864565,
+              -0.0585650562409238,
+              1.1635444983629943
+            ],
+            "object_minus_finger_midpoint": [
+              0.005466185076564989,
+              0.011835432840638198,
+              0.0
+            ],
+            "finger_gap": 0.02607348460152719,
+            "fingertip_max_gap": 0.09215838141092184,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013036742300763599,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635444983629943,
+            "object_top_z": 1.2134565941809756,
+            "finger_top_clearance": 0.049912095817981283,
+            "fingertip_min_top_clearance": 0.014973628745394384,
+            "object_projection_between_fingers": 0.8241952914256745,
+            "object_to_finger_line_xy": 0.009924974334177671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857919070546092,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8696325500085742,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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",
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+                "depth": 0.018945110932567566,
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+                "centered": true
+              },
+              {
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+                  0.0020521851521874135
+                ],
+                "rod_tip_xy": [
+                  0.2851907424320866,
+                  -0.36440052531243594
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+                  0.28509476125817557,
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+                ],
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+                  0.2851820033916708,
+                  -0.36440226472068343,
+                  1.002048678828126
+                ],
+                "rod_tip_xy_dist": 0.0020544284569202734,
+                "target_xy_drift": 1.2290260454846995e-07,
+                "depth": 0.01907801219587657,
+                "bottom_clearance": 0.08036255155721894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  8.724321562131321e-05,
+                  0.0020504758499847453
+                ],
+                "rod_tip_xy": [
+                  0.2851820033916708,
+                  -0.3644022647206835
+                ],
+                "target_mouth_xy": [
+                  0.2850947601760495,
+                  -0.36645274057066823
+                ],
+                "gripper_position": [
+                  0.2851969502003612,
+                  -0.36447773055504895,
+                  1.0015296748341076
+                ],
+                "rod_tip_xy_dist": 0.0020523310137603563,
+                "target_xy_drift": 9.291464446974376e-08,
+                "depth": 0.019211164028945293,
+                "bottom_clearance": 0.0802294511585605,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006030342968584171,
+              "rod_tip_xy_max_step": 3.267244592201425e-05,
+              "rod_tip_xy_range": 0.0006030269635929826,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2847744827348802,
+            -0.3657665645386538,
+            1.0433077796689545
+          ],
+          "object_origin_world": [
+            0.2847744827348802,
+            -0.3657665645386538,
+            1.0433077796689545
+          ],
+          "frame_world": [
+            0.28477305772819245,
+            -0.3657737968226748,
+            1.043187258690164
+          ],
+          "center_minus_frame": [
+            1.4250066877607992e-06,
+            7.232284020997071e-06,
+            0.00012052097879045043
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26375615287906373,
+              0.14412571614098485,
+              0.8324135945521162
+            ],
+            "target_position": [
+              0.2762707726465415,
+              0.1905680922883471,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0480989605931108,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1647761061875818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324135945521162,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567234898416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342951805595178,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76773c87c57503c2316351829d214aa4ab835922ea096f7c5313c65439d5f889",
+    "visual_seed": 4144119443634385398,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2557eea4c8176969895af0000e823b8e468378f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31119915226740474,
+              -0.04557015745717123,
+              1.1663120719611286
+            ],
+            "current_z": 1.1663120719611286,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30520562355100755,
+            "gripper_z": 1.1578640206766175,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30669212090175013,
+              -0.05017773884823584,
+              1.1578640206766175
+            ],
+            "object_minus_gripper": [
+              0.004507031365654612,
+              0.004607581391064611,
+              0.008448051284511093
+            ],
+            "object_to_gripper_xy": 0.006445396652362008,
+            "object_to_gripper_z": 0.008448051284511093,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31119915226740474,
+              -0.06924297963068786,
+              1.1663120719611286
+            ],
+            "finger_b": [
+              0.3005307635230145,
+              -0.04557015745717123,
+              1.1663120719611286
+            ],
+            "finger_midpoint": [
+              0.3058649578952096,
+              -0.057406568543929545,
+              1.1663120719611286
+            ],
+            "object_minus_finger_midpoint": [
+              0.005334194372195122,
+              0.011836411086758314,
+              0.0
+            ],
+            "finger_gap": 0.025965689439342316,
+            "fingertip_max_gap": 0.09192255937934166,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012982844719671158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663120719611286,
+            "object_top_z": 1.216200582846712,
+            "finger_top_clearance": 0.049888510885583326,
+            "fingertip_min_top_clearance": 0.014966553265675031,
+            "object_projection_between_fingers": 0.8311900861820996,
+            "object_to_finger_line_xy": 0.00972633021025198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846127968967083,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.765197766314729,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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",
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+                "depth": 0.019235668768919134,
+                "bottom_clearance": 0.08020487210863003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  8.38695019257929e-05,
+                  0.0013508964037756144
+                ],
+                "rod_tip_xy": [
+                  0.2865019847488959,
+                  -0.3647385096626863
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+                  0.2864181152469701,
+                  -0.3660894060664619
+                ],
+                "gripper_position": [
+                  0.286493246363807,
+                  -0.36474043152798485,
+                  1.0017565841815836
+                ],
+                "rod_tip_xy_dist": 0.0013534973908682529,
+                "target_xy_drift": 3.062248735614985e-08,
+                "depth": 0.019369450593899162,
+                "bottom_clearance": 0.08007116834794192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  7.503900624250548e-05,
+                  0.0013489693941304282
+                ],
+                "rod_tip_xy": [
+                  0.2864932463638071,
+                  -0.36474043152798485
+                ],
+                "target_mouth_xy": [
+                  0.28641820735756457,
+                  -0.3660894009221153
+                ],
+                "gripper_position": [
+                  0.2864843081666282,
+                  -0.3647423633752526,
+                  1.0016228571846326
+                ],
+                "rod_tip_xy_dist": 0.0013510548762942522,
+                "target_xy_drift": 6.174413518555898e-08,
+                "depth": 0.019503344470315542,
+                "bottom_clearance": 0.07993729366561142,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006077303412193879,
+              "rod_tip_xy_max_step": 3.299070168915112e-05,
+              "rod_tip_xy_range": 0.0006077249589676951,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.286138094567068,
+            -0.3660590778506114,
+            1.0435309829955421
+          ],
+          "object_origin_world": [
+            0.286138094567068,
+            -0.3660590778506114,
+            1.0435309829955421
+          ],
+          "frame_world": [
+            0.28613662868749035,
+            -0.366066376402827,
+            1.0434095408648065
+          ],
+          "center_minus_frame": [
+            1.465879577666751e-06,
+            7.2985522155955e-06,
+            0.00012144213073561616
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25462683568678307,
+              0.1384015756531473,
+              0.8324826444767635
+            ],
+            "target_position": [
+              0.2672540047837542,
+              0.18405572978493845,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04736820863081952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16506397795933847,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324826444767635,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676992712732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.135244417567301,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc5b5a9e09986ef29fef2b8b0ba6a56188209d6774ab12af3f708dfb38384519",
+    "visual_seed": 2719813967992998565,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c2682c92d5fd9111877ddeb5bc67a87e4b8c7df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_7_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3176446455580672,
+              -0.04288500393015265,
+              1.1655679281197964
+            ],
+            "current_z": 1.1655679281197964,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3044614797096753,
+            "gripper_z": 1.1569595604070746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31329219239939887,
+              -0.04748627312014059,
+              1.1569595604070746
+            ],
+            "object_minus_gripper": [
+              0.004352453158668335,
+              0.00460126918998794,
+              0.008608367712721776
+            ],
+            "object_to_gripper_xy": 0.006333681919478924,
+            "object_to_gripper_z": 0.008608367712721776,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3176446455580672,
+              -0.06642748141293005,
+              1.1655679281197964
+            ],
+            "finger_b": [
+              0.3069655607203989,
+              -0.04288500393015265,
+              1.1655679281197964
+            ],
+            "finger_midpoint": [
+              0.31230510313923304,
+              -0.054656242671541344,
+              1.1655679281197964
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053395424188341645,
+              0.011771238741388697,
+              0.0
+            ],
+            "finger_gap": 0.02585132683243161,
+            "fingertip_max_gap": 0.09230893458226522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012925663416215802,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655679281197964,
+            "object_top_z": 1.215465645399323,
+            "finger_top_clearance": 0.04989771727952652,
+            "fingertip_min_top_clearance": 0.014969315183857988,
+            "object_projection_between_fingers": 0.8293515308804139,
+            "object_to_finger_line_xy": 0.009725307948684056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865446729113261,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.017079336679797,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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",
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+              },
+              {
+                "frame": 407,
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+                  0.002745429921313214
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+                "rod_tip_xy": [
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+                  0.2899674515887,
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+                  0.29144748672520815,
+                  -0.3600000380237708,
+                  1.0016783904324464
+                ],
+                "rod_tip_xy_dist": 0.0031232435169432347,
+                "target_xy_drift": 9.65122993251069e-08,
+                "depth": 0.019446307046371847,
+                "bottom_clearance": 0.07999425062970966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014800937715182538,
+                  0.002743826752694356
+                ],
+                "rod_tip_xy": [
+                  0.2914474867252082,
+                  -0.3600000380237708
+                ],
+                "target_mouth_xy": [
+                  0.28996739295368995,
+                  -0.36274386477646514
+                ],
+                "gripper_position": [
+                  0.2914385600300853,
+                  -0.36000167079350986,
+                  1.0015435394525114
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+                "rod_tip_xy_dist": 0.0031175732262913062,
+                "target_xy_drift": 1.0963957045444065e-07,
+                "depth": 0.0195814780854765,
+                "bottom_clearance": 0.07985910104995486,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006053839577594604,
+              "rod_tip_xy_max_step": 3.2856468026822896e-05,
+              "rod_tip_xy_range": 0.0006053725937205413,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29113209543798496,
+            -0.3614640622588768,
+            1.0435156354578423
+          ],
+          "object_origin_world": [
+            0.29113209543798496,
+            -0.3614640622588768,
+            1.0435156354578423
+          ],
+          "frame_world": [
+            0.29113061824210007,
+            -0.36147150166213193,
+            1.0433931156147689
+          ],
+          "center_minus_frame": [
+            1.477195884891369e-06,
+            7.439403255149468e-06,
+            0.000122519843073432
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2651799769850751,
+              0.1428653642808553,
+              0.8330393947540397
+            ],
+            "target_position": [
+              0.2753958337033887,
+              0.18914196683350987,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047390797337726526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1692809124317732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330393947540397,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567114475397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13822086145485463,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c000149b00cf6d376eb1f2976aaeb7d26c78e92c716cd206aeb611f4c594746",
+    "visual_seed": 6902386605345172285,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b3d598b14f3c41ce0412e1ea080577b3ca800e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31324436662638677,
+              -0.04331109060091233,
+              1.1629038809162222
+            ],
+            "current_z": 1.1629038809162222,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.301797432506101,
+            "gripper_z": 1.154530556732147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3083900390057057,
+              -0.04805906770790459,
+              1.154530556732147
+            ],
+            "object_minus_gripper": [
+              0.004854327620681054,
+              0.004747977106992263,
+              0.008373324184075104
+            ],
+            "object_to_gripper_xy": 0.006790271221197987,
+            "object_to_gripper_z": 0.008373324184075104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31324436662638677,
+              -0.06729578833442386,
+              1.1629038809162222
+            ],
+            "finger_b": [
+              0.30246908254075966,
+              -0.04331109060091233,
+              1.1629038809162222
+            ],
+            "finger_midpoint": [
+              0.3078567245835732,
+              -0.055303439467668095,
+              1.1629038809162222
+            ],
+            "object_minus_finger_midpoint": [
+              0.005387642042813556,
+              0.011992348866755764,
+              0.0
+            ],
+            "finger_gap": 0.026293962662441772,
+            "fingertip_max_gap": 0.09159439284806967,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013146981331220886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629038809162222,
+            "object_top_z": 1.2127387184710892,
+            "finger_top_clearance": 0.04983483755486695,
+            "fingertip_min_top_clearance": 0.014950451266460085,
+            "object_projection_between_fingers": 0.8320633931126085,
+            "object_to_finger_line_xy": 0.009828945720518635,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048297196424034836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4075483659563963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                "rod_tip_xy": [
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+                  1.0017853851283616
+                ],
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+                "target_xy_drift": 1.3046534617381948e-07,
+                "depth": 0.019339462139153607,
+                "bottom_clearance": 0.08010114756884557,
+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  -0.000795168925252665,
+                  0.0014939326716584822
+                ],
+                "rod_tip_xy": [
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+                  -0.3612377973113774
+                ],
+                "target_mouth_xy": [
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+                  -0.3627317299830359
+                ],
+                "gripper_position": [
+                  0.29079039189797995,
+                  -0.3612393052853171,
+                  1.0016499226262514
+                ],
+                "rod_tip_xy_dist": 0.0016923736133419621,
+                "target_xy_drift": 1.141880802514852e-07,
+                "depth": 0.0194744350098065,
+                "bottom_clearance": 0.07996607497057695,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006065455670082689,
+              "rod_tip_xy_max_step": 3.3081328954553244e-05,
+              "rod_tip_xy_range": 0.0006065305917495617,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29037094972753863,
+            -0.3625300926544448,
+            1.0434662296302928
+          ],
+          "object_origin_world": [
+            0.29037094972753863,
+            -0.3625300926544448,
+            1.0434662296302928
+          ],
+          "frame_world": [
+            0.29036947291459614,
+            -0.36253749790785234,
+            1.043343970542546
+          ],
+          "center_minus_frame": [
+            1.4768129424913568e-06,
+            7.405253407533063e-06,
+            0.00012225908774676775
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2635241508474481,
+              0.14519926622719376,
+              0.8337871293600575
+            ],
+            "target_position": [
+              0.27312431904069545,
+              0.19144192707707053,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047228666208303655,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16774312589966567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337871293600575,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669298655815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364620090151022,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90df3a07aa7fbd2389c1562b106d37926e1130f7c4c67b9597efd5a76a24669a",
+    "visual_seed": 4367971065161941771,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c23ce46a47e7cbde893f3a114a3616dcba245666
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31833390419579144,
+              -0.042613317073069056,
+              1.1651469197233197
+            ],
+            "current_z": 1.1651469197233197,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3040404713131988,
+            "gripper_z": 1.1568087463498717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31354499437939465,
+              -0.04730614308162456,
+              1.1568087463498717
+            ],
+            "object_minus_gripper": [
+              0.004788909816396791,
+              0.004692826008555508,
+              0.008338173373447999
+            ],
+            "object_to_gripper_xy": 0.0067049439353477494,
+            "object_to_gripper_z": 0.008338173373447999,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31833390419579144,
+              -0.06671012782952808,
+              1.1651469197233197
+            ],
+            "finger_b": [
+              0.30784053872639805,
+              -0.042613317073069056,
+              1.1651469197233197
+            ],
+            "finger_midpoint": [
+              0.31308722146109474,
+              -0.054661722451298564,
+              1.1651469197233197
+            ],
+            "object_minus_finger_midpoint": [
+              0.005246682734696695,
+              0.012048405378229508,
+              0.0
+            ],
+            "finger_gap": 0.026282446756473357,
+            "fingertip_max_gap": 0.09230202297429599,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013141223378236675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651469197233197,
+            "object_top_z": 1.215077789754694,
+            "finger_top_clearance": 0.04993087003137431,
+            "fingertip_min_top_clearance": 0.014979261009412326,
+            "object_projection_between_fingers": 0.840596441813755,
+            "object_to_finger_line_xy": 0.009620742096702084,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048651011487147997,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.017285096318327,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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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+              },
+              {
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+                "rod_tip_xy": [
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+                  1.002034653920099
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+                "depth": 0.019091831669164838,
+                "bottom_clearance": 0.0803487322562828,
+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.00019129089387859288
+                ],
+                "rod_tip_xy": [
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+                  -0.3632748808905185
+                ],
+                "target_mouth_xy": [
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+                  -0.3634661717843971
+                ],
+                "gripper_position": [
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+                  -0.36335770921012506,
+                  1.0015166476552237
+                ],
+                "rod_tip_xy_dist": 0.001062290619784085,
+                "target_xy_drift": 1.2111586721685645e-07,
+                "depth": 0.019225118068908364,
+                "bottom_clearance": 0.08021543694221489,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006082021238030054,
+              "rod_tip_xy_max_step": 3.287003503503365e-05,
+              "rod_tip_xy_range": 0.0006081859717466184,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2858742035702996,
+            -0.3647845134205404,
+            1.0434141131195553
+          ],
+          "object_origin_world": [
+            0.2858742035702996,
+            -0.3647845134205404,
+            1.0434141131195553
+          ],
+          "frame_world": [
+            0.285899079258096,
+            -0.36478102980581034,
+            1.043715868121696
+          ],
+          "center_minus_frame": [
+            -2.4875687796410695e-05,
+            -3.483614730070972e-06,
+            -0.0003017550021406912
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2628858043712158,
+              0.13535750676322156,
+              0.8340921584787303
+            ],
+            "target_position": [
+              0.2723497261772647,
+              0.18189251696233277,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04748760880674446,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1670530470494819,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340921584787303,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674614473705,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.135923204925681,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e0b3b14f89314980686394438e2008d31e17d62fd9a83f1f9e1f4aa9e24a14c",
+    "visual_seed": 515110399376013677,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dcd06f5552b05d3ac3a28f685125480f24ae911
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31569373273549484,
+              -0.05184176627787223,
+              1.1642097379835121
+            ],
+            "current_z": 1.1642097379835121,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3031033491780357,
+            "gripper_z": 1.155574408597472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3111364346895382,
+              -0.05639009808960553,
+              1.155574408597472
+            ],
+            "object_minus_gripper": [
+              0.004557298045956615,
+              0.004548331811733301,
+              0.00863532938604017
+            ],
+            "object_to_gripper_xy": 0.006438655740859664,
+            "object_to_gripper_z": 0.00863532938604017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31569373273549484,
+              -0.07568287394998892,
+              1.1642097379835121
+            ],
+            "finger_b": [
+              0.3052978752104317,
+              -0.05184176627787223,
+              1.1642097379835121
+            ],
+            "finger_midpoint": [
+              0.3104958039729633,
+              -0.06376232011393057,
+              1.1642097379835121
+            ],
+            "object_minus_finger_midpoint": [
+              0.005197928762531556,
+              0.011920553836058341,
+              0.0
+            ],
+            "finger_gap": 0.026009080504986574,
+            "fingertip_max_gap": 0.09203041417722732,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013004540252493283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642097379835121,
+            "object_top_z": 1.2141245182033527,
+            "finger_top_clearance": 0.04991478021984053,
+            "fingertip_min_top_clearance": 0.014974434065952124,
+            "object_projection_between_fingers": 0.8402390479557654,
+            "object_to_finger_line_xy": 0.009529316445904172,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851520708861366,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7156747268529826,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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",
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+                "depth": 0.019192989719757136,
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0027356819579110736
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+                "rod_tip_xy": [
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+                "gripper_position": [
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+                "depth": 0.019711814895239654,
+                "bottom_clearance": 0.07972895399797786,
+                "inserted": true,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006085768042403849,
+              "rod_tip_xy_max_step": 3.288643764870674e-05,
+              "rod_tip_xy_range": 0.0006085671966054748,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28697724958723553,
+            -0.3628782992396854,
+            1.0434113899728927
+          ],
+          "object_origin_world": [
+            0.28697724958723553,
+            -0.3628782992396854,
+            1.0434113899728927
+          ],
+          "frame_world": [
+            0.28700206892433444,
+            -0.3628750659733432,
+            1.043713312359764
+          ],
+          "center_minus_frame": [
+            -2.4819337098913596e-05,
+            -3.2332663422174335e-06,
+            -0.00030192238687121176
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26284620419130955,
+              0.14394903611037554,
+              0.8330880834569293
+            ],
+            "target_position": [
+              0.27351126286740524,
+              0.19081827853797506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048067341951699996,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16648964131386187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330880834569293,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671477791024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13549218046091382,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "workflow_spec_digest": "5e3bf42749d720fc4a77cca17511c4302038e048283c431a3488bc17cebf2214",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "979528fb425b8de2a40c5d4071841831e9ea184ba71018b131bc69144591563d",
+    "visual_seed": 6272047517049903388,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088,
+      66021878712357332,
+      8110057622979961694,
+      4112354901315350723
+    ],
+    "runtime_workflow_digest": "3a0ccf5e5219208ff6ea28994eb320391324e47fe5399862c75a2893091c0e88"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e57ef06fe45bc024fd8e6333c4d5707989083ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/episode_9_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3145636082683375,
+              -0.05116274498764436,
+              1.1652308535933793
+            ],
+            "current_z": 1.1652308535933793,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30412434557861323,
+            "gripper_z": 1.1568677775831986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3097915842984442,
+              -0.055963602966225184,
+              1.1568677775831986
+            ],
+            "object_minus_gripper": [
+              0.004772023969893291,
+              0.004800857978580826,
+              0.008363076010180714
+            ],
+            "object_to_gripper_xy": 0.006769080447131597,
+            "object_to_gripper_z": 0.008363076010180714,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3145636082683375,
+              -0.07498647842787887,
+              1.1652308535933793
+            ],
+            "finger_b": [
+              0.30357113307712036,
+              -0.05116274498764436,
+              1.1652308535933793
+            ],
+            "finger_midpoint": [
+              0.30906737067272894,
+              -0.06307461170776162,
+              1.1652308535933793
+            ],
+            "object_minus_finger_midpoint": [
+              0.005496237595608577,
+              0.011911866720117258,
+              0.0
+            ],
+            "finger_gap": 0.026237469120722612,
+            "fingertip_max_gap": 0.09167598869001278,
+            "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": 1.1652308535933793,
+            "object_top_z": 1.2151605605235458,
+            "finger_top_clearance": 0.04992970693016652,
+            "fingertip_min_top_clearance": 0.014978912079049922,
+            "object_projection_between_fingers": 0.8244717158983473,
+            "object_to_finger_line_xy": 0.009981214178813902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048337994345006394,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3662082260653163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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",
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+                "shoulder_pan_joint",
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+    "task_island_state_digest": "562831446d2ecfcd4b9f89090855b57e319064fdc574fc221784752b342dc48c",
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00020/results/summary.json
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@@ -0,0 +1,9 @@
+{
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+  "family": "lab3_v1",
+  "published_episodes": 41,
+  "published_successes": 41,
+  "published_failures": 0,
+  "matched_success_results": 41
+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f361df42df4d4580123c1c6dad7b4dd06b0c1f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,54 @@
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3cefaba41be5c4570086cd301011d3ecd0883fef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00023
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00023
+  reproducibility:
+    enabled: true
+    layout_id: layout_00023
+    action_seed: 816907636393322120
+    step_seeds:
+    - 6025886195317364167
+    - 912408632159906142
+    - 5099940445753200938
+    - 3306769215366559685
+    - 7335815437279525119
+    - 8505066693774525853
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2917
+      - 0.2917
+      'y':
+      - -0.0723
+      - -0.0723
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2799
+      - 0.2799
+      'y':
+      - 0.0721
+      - 0.0721
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2042
+      - 0.2042
+      'y':
+      - -0.343
+      - -0.343
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2892
+      - 0.2892
+      'y':
+      - 0.3166
+      - 0.3166
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3166f8fe3b14e13c3c810ec8826211cbac2287e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3178423245034388,
+              -0.07829280133390266,
+              1.163582514149765
+            ],
+            "current_z": 1.163582514149765,
+            "required_z": 0.8611066927385973,
+            "initial_z": 0.7611066927385973,
+            "lift_margin": 0.3024758214111678,
+            "gripper_z": 1.1547368854029696,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31331531937032364,
+              -0.08296734409021804,
+              1.1547368854029696
+            ],
+            "object_minus_gripper": [
+              0.004527005133115158,
+              0.004674542756315375,
+              0.008845628746795509
+            ],
+            "object_to_gripper_xy": 0.006507313228658318,
+            "object_to_gripper_z": 0.008845628746795509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3178423245034388,
+              -0.10197701774807133,
+              1.163582514149765
+            ],
+            "finger_b": [
+              0.30707222013615754,
+              -0.07829280133390266,
+              1.163582514149765
+            ],
+            "finger_midpoint": [
+              0.31245727231979814,
+              -0.09013490954098699,
+              1.163582514149765
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053850521836406595,
+              0.011842108207084326,
+              0.0
+            ],
+            "finger_gap": 0.026018017895975614,
+            "fingertip_max_gap": 0.09140266183545545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013009008947987812,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163582514149765,
+            "object_top_z": 1.2135292766439703,
+            "finger_top_clearance": 0.049946762494205155,
+            "fingertip_min_top_clearance": 0.014984028748261546,
+            "object_projection_between_fingers": 0.8286471202684652,
+            "object_to_finger_line_xy": 0.009804032100282628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820133091772773,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.025171797218214,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26814855086762246,
+              -0.34452777955338154,
+              0.851539581125394
+            ],
+            "target_position": [
+              0.26061999088334364,
+              -0.3449087864996546,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075381948588500005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18414879824635633,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539581125394,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757951992392478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686709930328106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514279417410837,
+            "release_required_pad_clearance": 0.05343354965164053,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8809046083000003,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007217109203338623,
+            "max_z_decrease": 0.007217109203338623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509139122357925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007217109203338623,
+            "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": 0.02109889036456507,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007217109203338623,
+            "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": 0.0072171183959733815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11631991714239122,
+              -0.40117025375366205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11631991714239122,
+              -0.40117025375366205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11523775336574021,
+              -0.4009991925782701,
+              0.8079226421398369
+            ],
+            "closest_button": [
+              0.11631286889314651,
+              -0.4011677503585815,
+              0.7728481292724609
+            ],
+            "closest_ee_minus_button": [
+              -0.0010751155274063007,
+              0.00016855778031138469,
+              0.03507451286737595
+            ],
+            "button_min_z_position": [
+              0.11630859971046449,
+              -0.40116810798645014,
+              0.769591748714447
+            ],
+            "min_active_finger_to_button": 0.1470818899050443,
+            "closest_active_finger": [
+              -0.012121349573135376,
+              -0.4640149474143982,
+              0.810756266117096
+            ],
+            "closest_active_finger_button": [
+              0.1163211539387703,
+              -0.40116998553276056,
+              0.776316225528717
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844250351190567,
+              -0.06284496188163763,
+              0.034440040588378906
+            ],
+            "min_contact_pad_to_button": 0.02109889036456507,
+            "closest_contact_pad": [
+              0.11630859971046449,
+              -0.4020822889784167,
+              0.7906708247788732
+            ],
+            "closest_contact_pad_button": [
+              0.11630859971046449,
+              -0.40116810798645014,
+              0.769591748714447
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009141809919665511,
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "207adf034c0f2e3cd96a3cc176e3241462eb59ae1a9c71acb93ab4deadfb7282",
+    "visual_seed": 6357737378933130407,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9a5c348a198d7f01a542c1066fa492c35681f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_10_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.32097979250009434,
+              -0.07349070422674911,
+              1.1649561613302035
+            ],
+            "current_z": 1.1649561613302035,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30384965331543756,
+            "gripper_z": 1.1561231294172543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3165189982756422,
+              -0.07812787124979383,
+              1.1561231294172543
+            ],
+            "object_minus_gripper": [
+              0.004460794224452114,
+              0.0046371670230447165,
+              0.008833031912949263
+            ],
+            "object_to_gripper_xy": 0.006434438834313272,
+            "object_to_gripper_z": 0.008833031912949263,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32097979250009434,
+              -0.09707114297979356,
+              1.1649561613302035
+            ],
+            "finger_b": [
+              0.31018584490608225,
+              -0.07349070422674911,
+              1.1649561613302035
+            ],
+            "finger_midpoint": [
+              0.3155828187030883,
+              -0.08528092360327133,
+              1.1649561613302035
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396973797006044,
+              0.01179021937652222,
+              0.0
+            ],
+            "finger_gap": 0.02593349950254227,
+            "fingertip_max_gap": 0.09172298992766367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012966749751271128,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649561613302035,
+            "object_top_z": 1.2148841984991865,
+            "finger_top_clearance": 0.049928037168982975,
+            "fingertip_min_top_clearance": 0.014978411150694926,
+            "object_projection_between_fingers": 0.8267639150584234,
+            "object_to_finger_line_xy": 0.009814565138778196,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836149496383184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.436606775775158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26425594996274043,
+              -0.34154039271987935,
+              0.8515395660328722
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+            "target_position": [
+              0.25622318186335596,
+              -0.34175644441096376,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008035673068991122,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1871111423765404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395660328722,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539918477348054,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601619894177552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15511830139655727,
+            "release_required_pad_clearance": 0.05300809947088776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.049027460537748,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00728684663772583,
+            "max_z_decrease": 0.00728684663772583,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139060751088816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00728684663772583,
+            "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": 0.021111965346796054,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00728684663772583,
+            "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": 0.007286869738752092,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3980179131031036,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.3980167806148529,
+              0.7695220112800598
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+            "min_active_finger_to_button": 0.14426251777086171,
+            "closest_active_finger": [
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+              -0.4603661894798279,
+              0.8111058473587036
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+            "closest_active_finger_button": [
+              0.1119256392121315,
+              -0.39801663160324097,
+              0.7766417860984802
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254449486732483,
+              -0.062349557876586914,
+              0.03446406126022339
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+            "min_contact_pad_to_button": 0.021111965346796054,
+            "closest_contact_pad": [
+              0.11190479248762131,
+              -0.39832568169024934,
+              0.7906317166529431
+            ],
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d902df4f2cb97a372465bac2078315557d51465b36f09213e0b754571dd00e1",
+    "visual_seed": 2655543297860198255,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18edc15586d499897b656ea1c84e4daba1d3ab6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_11_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3227608064654607,
+              -0.07215061178449976,
+              1.1656143362565858
+            ],
+            "current_z": 1.1656143362565858,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3045079474511093,
+            "gripper_z": 1.1566837003179304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3184158449229173,
+              -0.07664496439861715,
+              1.1566837003179304
+            ],
+            "object_minus_gripper": [
+              0.00434496154254338,
+              0.004494352614117389,
+              0.008930635938655396
+            ],
+            "object_to_gripper_xy": 0.006251231576753876,
+            "object_to_gripper_z": 0.008930635938655396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3227608064654607,
+              -0.0957366484772142,
+              1.1656143362565858
+            ],
+            "finger_b": [
+              0.31229429363405087,
+              -0.07215061178449976,
+              1.1656143362565858
+            ],
+            "finger_midpoint": [
+              0.31752755004975575,
+              -0.08394363013085698,
+              1.1656143362565858
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233256415704934,
+              0.011793018346357223,
+              0.0
+            ],
+            "finger_gap": 0.025804050413067683,
+            "fingertip_max_gap": 0.09228108745636107,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012902025206533854,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656143362565858,
+            "object_top_z": 1.2155539349379663,
+            "finger_top_clearance": 0.049939598681380426,
+            "fingertip_min_top_clearance": 0.014981879604414126,
+            "object_projection_between_fingers": 0.8354763798778929,
+            "object_to_finger_line_xy": 0.009566852944969515,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864054372818054,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9704683596960877,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26685878445265127,
+              -0.3423994099140233,
+              0.8515395652960894
+            ],
+            "target_position": [
+              0.2603039647346326,
+              -0.3420824547504669,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006562478351311468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844652962252084,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395652960894,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566590420204942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761758709052352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15178532486280366,
+            "release_required_pad_clearance": 0.05380879354526176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6268663671024863,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007353723049163818,
+            "max_z_decrease": 0.007353723049163818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510082796008345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007353723049163818,
+            "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": 0.021097322398455354,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007353723049163818,
+            "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": 0.007353743781016746,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11600389331579207,
+              -0.3983439207077026,
+              0.7768088579177856
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+            "button_final": [
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+              -0.3983439207077026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1159458303321548,
+              -0.3974722315055309,
+              0.8077166801597047
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+            "closest_button": [
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+              -0.398341029882431,
+              0.7726266384124756
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+            "closest_ee_minus_button": [
+              -4.778118241351159e-05,
+              0.0008687983769000707,
+              0.03509004174722907
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+            "button_min_z_position": [
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+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6038a7dc7f35f4b8c3c2f8086e6d3d29ef70c169b68d8d786ff14c5a452f8dc6",
+    "visual_seed": 4083986151964479019,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ab56a520430dd4c1d1e2baa5e70d0afe799ad8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_12_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32174511945640605,
+              -0.07797606758180566,
+              1.1658265483857302
+            ],
+            "current_z": 1.1658265483857302,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3047200999756091,
+            "gripper_z": 1.1568808640764543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3174704443250691,
+              -0.08243957002871745,
+              1.1568808640764543
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+              0.004274675131336947,
+              0.004463502446911793,
+              0.008945684309275892
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+            "object_to_gripper_z": 0.008945684309275892,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32174511945640605,
+              -0.10146401375479282,
+              1.1658265483857302
+            ],
+            "finger_b": [
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+              -0.07797606758180566,
+              1.1658265483857302
+            ],
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+              0.31650389619415503,
+              -0.08972004066829924,
+              1.1658265483857302
+            ],
+            "object_minus_finger_midpoint": [
+              0.005241223262251016,
+              0.011743973086493581,
+              0.0
+            ],
+            "finger_gap": 0.02572091173664314,
+            "fingertip_max_gap": 0.09223937518474032,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.0095724110501867,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861968759237016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1382525201029123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26272926753049736,
+              -0.34145634315335316,
+              0.8515395614719544
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+            "target_position": [
+              0.2554737904884048,
+              -0.3415797007881494,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007256525629693232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18289487378640315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395614719544,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557010129212537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870623191623366,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15053695643240153,
+            "release_required_pad_clearance": 0.0535311595811683,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.0740631248577888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007201969623565674,
+            "max_z_decrease": 0.007201969623565674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093910864519254,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007201969623565674,
+            "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": 0.02115837752373429,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007201969623565674,
+            "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": 0.00720199488448908,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11117371916770934,
+              -0.39784115552902216,
+              0.7768088579177856
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13844157326018924,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15f3535c5b791ba84f6f2cc84557ffe586f3810e89a3e0204b1a02192a7c3257",
+    "visual_seed": 1322246095297962438,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06cf220b443e39f8ec6f810225fcc21c65f49601
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_14_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3183334426334969,
+              -0.07537701833525584,
+              1.1652396198045576
+            ],
+            "current_z": 1.1652396198045576,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3041332309990813,
+            "gripper_z": 1.1565671240507716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31390256529186544,
+              -0.07979188722480891,
+              1.1565671240507716
+            ],
+            "object_minus_gripper": [
+              0.004430877341631445,
+              0.0044148688895530724,
+              0.008672495753786036
+            ],
+            "object_to_gripper_xy": 0.006254897387529752,
+            "object_to_gripper_z": 0.008672495753786036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3183334426334969,
+              -0.0991483708985312,
+              1.1652396198045576
+            ],
+            "finger_b": [
+              0.3081685429431398,
+              -0.07537701833525584,
+              1.1652396198045576
+            ],
+            "finger_midpoint": [
+              0.31325099278831836,
+              -0.08726269461689351,
+              1.1652396198045576
+            ],
+            "object_minus_finger_midpoint": [
+              0.005082449845178527,
+              0.01188567628163767,
+              0.0
+            ],
+            "finger_gap": 0.025853479232060037,
+            "fingertip_max_gap": 0.09250951856385167,
+            "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": 1.1652396198045576,
+            "object_top_z": 1.2150291613763118,
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+            "fingertip_min_top_clearance": 0.014936862471526223,
+            "object_projection_between_fingers": 0.8454146970330808,
+            "object_to_finger_line_xy": 0.009346262920395084,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875475928192584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3741303030455447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26042657819611414,
+              -0.3448142148770855,
+              0.8515395135911167
+            ],
+            "target_position": [
+              0.2542840698810424,
+              -0.3442541773566246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006167985929381604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18136814133124537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395135911167,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757702351266443,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08886875271671059,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1484780356140628,
+            "release_required_pad_clearance": 0.054434376358355296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8962543125106697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007334649562835693,
+            "max_z_decrease": 0.007334649562835693,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510372393166366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007334649562835693,
+            "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": 0.021264190569789326,
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+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2649059815966411,
+              0.1623365515982436,
+              0.8320028005473669
+            ],
+            "target_position": [
+              0.28071160024077374,
+              0.20890181653702655,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.049174601976455325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16720970731610854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320028005473669,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668778486953,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13664161522557566,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96c58b8946f53a8953213cbb528fc904e166b72d80608aa5ef7620524403c7ac",
+    "visual_seed": 1944485907818878424,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c714f4a49fcffad29bd726fe911698d6877ab4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.32024618083749373,
+              -0.0733160407604175,
+              1.1637419001987204
+            ],
+            "current_z": 1.1637419001987204,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3026354517885994,
+            "gripper_z": 1.155097645484998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3155422209553947,
+              -0.07794828416823134,
+              1.155097645484998
+            ],
+            "object_minus_gripper": [
+              0.00470395988209904,
+              0.0046322434078138325,
+              0.008644254713722432
+            ],
+            "object_to_gripper_xy": 0.006601887424186504,
+            "object_to_gripper_z": 0.008644254713722432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32024618083749373,
+              -0.09736154077722717,
+              1.1637419001987204
+            ],
+            "finger_b": [
+              0.3098547343083681,
+              -0.0733160407604175,
+              1.1637419001987204
+            ],
+            "finger_midpoint": [
+              0.31505045757293093,
+              -0.08533879076882234,
+              1.1637419001987204
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051957232645628015,
+              0.012022750008404831,
+              0.0
+            ],
+            "finger_gap": 0.02619481307484501,
+            "fingertip_max_gap": 0.09212123746897491,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013097406537422494,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637419001987204,
+            "object_top_z": 1.213625180280558,
+            "finger_top_clearance": 0.04988328008183762,
+            "fingertip_min_top_clearance": 0.014964984024551252,
+            "object_projection_between_fingers": 0.8426301948593056,
+            "object_to_finger_line_xy": 0.009538816977881654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856061873448746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.890598718966853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26279151384837923,
+              -0.340693850756701,
+              0.8515395522540862
+            ],
+            "target_position": [
+              0.2565275041530144,
+              -0.34037239789694645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006272252339046082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184672031859248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395522540862,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757799944854037,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08902951633730584,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15167732260916625,
+            "release_required_pad_clearance": 0.05451475816865292,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.061715588070239,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+            0.26095882072100907,
+            -0.33905291839345625,
+            1.0433297000061625
+          ],
+          "center_minus_frame": [
+            1.3725061177027875e-06,
+            3.2705462130744323e-06,
+            0.00010410083436873663
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26506603740459017,
+              0.1588293864823434,
+              0.832386224289045
+            ],
+            "target_position": [
+              0.28037021961792585,
+              0.20453238932584966,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048197328371316614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16839524932622166,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832386224289045,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673920567948,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13749450685676917,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58e76baf37d9f703beaede16a14cad913fcf546db29d154622a510a6650a3175",
+    "visual_seed": 8089991763929375593,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3dbeb70962211b9969f61281798f980b8af7f1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3199163863350337,
+              -0.07465165122741536,
+              1.1659019023915702
+            ],
+            "current_z": 1.1659019023915702,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3047955135860938,
+            "gripper_z": 1.15706701915598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3154831003601705,
+              -0.07918860539683782,
+              1.15706701915598
+            ],
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+              0.004433285974863199,
+              0.004536954169422458,
+              0.00883488323559023
+            ],
+            "object_to_gripper_xy": 0.006343341207152471,
+            "object_to_gripper_z": 0.00883488323559023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3199163863350337,
+              -0.09830865730336352,
+              1.1659019023915702
+            ],
+            "finger_b": [
+              0.309399223192197,
+              -0.07465165122741536,
+              1.1659019023915702
+            ],
+            "finger_midpoint": [
+              0.3146578047636154,
+              -0.08648015426538944,
+              1.1659019023915702
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052585815714183415,
+              0.011828503037974072,
+              0.0
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+            "finger_gap": 0.0258894700032753,
+            "fingertip_max_gap": 0.09212756790337254,
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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": 1.1659019023915702,
+            "object_top_z": 1.2157907957835414,
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+            "fingertip_min_top_clearance": 0.014966668017591334,
+            "object_projection_between_fingers": 0.8349745590647918,
+            "object_to_finger_line_xy": 0.00961026210039642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856378395168627,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.91917040665994,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2593323310776839,
+              -0.34743586157160755,
+              0.8515395169857848
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+            "target_position": [
+              0.25253241756887124,
+              -0.3474251760497315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006799921904530266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494081440152746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395169857848,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758591731375632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08812734826234579,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15191458400096058,
+            "release_required_pad_clearance": 0.0540636741311729,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1399489902044535,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+            0.2595498908973048,
+            -0.34890310226061855,
+            1.0433903943641614
+          ],
+          "object_origin_world": [
+            0.2595498908973048,
+            -0.34890310226061855,
+            1.0433903943641614
+          ],
+          "frame_world": [
+            0.2595485831280836,
+            -0.3489069477692958,
+            1.043284695476044
+          ],
+          "center_minus_frame": [
+            1.3077692211926895e-06,
+            3.845508677269294e-06,
+            0.00010569888811740036
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26235799902384277,
+              0.16230065802424964,
+              0.8317996366538586
+            ],
+            "target_position": [
+              0.279018335261281,
+              0.20827771286123314,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048902519107173664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16765774234572012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317996366538586,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671143137533,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13778680674264726,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b15568fa41ec4e341da0efb75f93bc4a73a92b472ee9286397d4fb55342bd455",
+    "visual_seed": 6273691773661460296,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5015750e12f59fc601bb8d65969592420b51e16f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_17_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.31638571899146783,
+              -0.06970713517088449,
+              1.1665914526151195
+            ],
+            "current_z": 1.1665914526151195,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3054849446003537,
+            "gripper_z": 1.158055707283228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31197226006202616,
+              -0.07432202704651124,
+              1.158055707283228
+            ],
+            "object_minus_gripper": [
+              0.0044134589294416715,
+              0.004614891875626748,
+              0.008535745331891498
+            ],
+            "object_to_gripper_xy": 0.0063855968198434036,
+            "object_to_gripper_z": 0.008535745331891498,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31638571899146783,
+              -0.09322791667030075,
+              1.1665914526151195
+            ],
+            "finger_b": [
+              0.30560077791161544,
+              -0.06970713517088449,
+              1.1665914526151195
+            ],
+            "finger_midpoint": [
+              0.31099324845154164,
+              -0.08146752592059261,
+              1.1665914526151195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005392470539926197,
+              0.011760390749708124,
+              0.0
+            ],
+            "finger_gap": 0.02587551190680428,
+            "fingertip_max_gap": 0.09229153154664935,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012937755953402134,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665914526151195,
+            "object_top_z": 1.2164734068686465,
+            "finger_top_clearance": 0.04988195425352693,
+            "fingertip_min_top_clearance": 0.01496458627605811,
+            "object_projection_between_fingers": 0.8262768670707583,
+            "object_to_finger_line_xy": 0.009803486923734294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048645765773324676,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9159638408021729,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26459423824735534,
+              -0.3402711124322332,
+              0.8515395646339107
+            ],
+            "target_position": [
+              0.2572024255801473,
+              -0.34032384928690357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007392000790241985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459411366781522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395646339107,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520976349129478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857829769588619,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15304727003326044,
+            "release_required_pad_clearance": 0.052891488479430954,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8232894687022223,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2628490366270268,
+            -0.3385658315087278,
+            1.0433972820696968
+          ],
+          "object_origin_world": [
+            0.2628490366270268,
+            -0.3385658315087278,
+            1.0433972820696968
+          ],
+          "frame_world": [
+            0.2628476129635032,
+            -0.3385691408884817,
+            1.0432924188929988
+          ],
+          "center_minus_frame": [
+            1.4236635236253292e-06,
+            3.3093797539018865e-06,
+            0.00010486317669800016
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26662330092165326,
+              0.15336776196357513,
+              0.8326738783250381
+            ],
+            "target_position": [
+              0.279405691776832,
+              0.20003732150379255,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04838840050727505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17040857930694522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326738783250381,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670230976096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13919196876211834,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5395def0aa46f4d676eef3e58f748cae7d52bc99130e338ec703230eadec0847",
+    "visual_seed": 2054993805636684409,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..448af6b23a868ef4b2ed14203c356209a1eeb7d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_18_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.320146206004123,
+              -0.07664224450123405,
+              1.1663790457352672
+            ],
+            "current_z": 1.1663790457352672,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3052725377205012,
+            "gripper_z": 1.1576372297564144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3155974531061086,
+              -0.08113617103740217,
+              1.1576372297564144
+            ],
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+              0.00454875289801443,
+              0.004493926536168119,
+              0.008741815978852818
+            ],
+            "object_to_gripper_xy": 0.006394257473676726,
+            "object_to_gripper_z": 0.008741815978852818,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.320146206004123,
+              -0.100526293880824,
+              1.1663790457352672
+            ],
+            "finger_b": [
+              0.3098945946635025,
+              -0.07664224450123405,
+              1.1663790457352672
+            ],
+            "finger_midpoint": [
+              0.31502040033381273,
+              -0.08858426919102902,
+              1.1663790457352672
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051258056703102906,
+              0.011942024689794967,
+              0.0
+            ],
+            "finger_gap": 0.025991216782710082,
+            "fingertip_max_gap": 0.0919548802510802,
+            "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": 1.1663790457352672,
+            "object_top_z": 1.2162027766832697,
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+            "object_projection_between_fingers": 0.8444281405432771,
+            "object_to_finger_line_xy": 0.009420489757240752,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0484774401255401,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8071077654837564,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2615316014858982,
+              -0.34196507604086057,
+              0.8515396027355069
+            ],
+            "target_position": [
+              0.25480077946930413,
+              -0.34167109786020883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006737238914404548,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824218192605082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396027355069,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583772031575008,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08849633807623193,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14942146641353837,
+            "release_required_pad_clearance": 0.05424816903811597,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.514719922734538,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25911070133632724,
+            -0.34156960675768866,
+            1.043501855000992
+          ],
+          "object_origin_world": [
+            0.25911070133632724,
+            -0.34156960675768866,
+            1.043501855000992
+          ],
+          "frame_world": [
+            0.2591093906013974,
+            -0.3415731707207973,
+            1.0433978594221776
+          ],
+          "center_minus_frame": [
+            1.3107349298158155e-06,
+            3.5639631086326062e-06,
+            0.0001039955788144642
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2668186432655914,
+              0.16003953519384884,
+              0.8322994723649054
+            ],
+            "target_position": [
+              0.2808997050330704,
+              0.20638364936410047,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04843607352712311,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16984198173394027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322994723649054,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669574117336,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13863149619289628,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b599b37cd2e0494f9f70582b540542e5dc13ab7be17a307a76a4975c8705ed67",
+    "visual_seed": 405502450838762016,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37bfaeb5733ca692b197dab46b5abe4d50c066b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3201474654152022,
+              -0.07136426622287169,
+              1.1634430539058938
+            ],
+            "current_z": 1.1634430539058938,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3023366054957727,
+            "gripper_z": 1.1546229247086677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31565637478806696,
+              -0.07588428070861353,
+              1.1546229247086677
+            ],
+            "object_minus_gripper": [
+              0.0044910906271352635,
+              0.004520014485741838,
+              0.008820129197226079
+            ],
+            "object_to_gripper_xy": 0.0063718463550574,
+            "object_to_gripper_z": 0.008820129197226079,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3201474654152022,
+              -0.09520739082189371,
+              1.1634430539058938
+            ],
+            "finger_b": [
+              0.3098651657560985,
+              -0.07136426622287169,
+              1.1634430539058938
+            ],
+            "finger_midpoint": [
+              0.3150063155856504,
+              -0.0832858285223827,
+              1.1634430539058938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005141149829551828,
+              0.01192156229951101,
+              0.0
+            ],
+            "finger_gap": 0.025965751999972836,
+            "fingertip_max_gap": 0.09210683126533295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012982875999986406,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634430539058938,
+            "object_top_z": 1.2132781016811596,
+            "finger_top_clearance": 0.04983504777526582,
+            "fingertip_min_top_clearance": 0.014950514332579745,
+            "object_projection_between_fingers": 0.8431882132617804,
+            "object_to_finger_line_xy": 0.009441750500303173,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855341563266648,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8659162175516344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2661610333345569,
+              -0.3441478195712079,
+              0.8515396325740822
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+            "target_position": [
+              0.2587245720890118,
+              -0.3441173944107529,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00743652348526398,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520450929035015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396325740822,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515433254267322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870089962010006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539687760941751,
+            "release_required_pad_clearance": 0.0535044981005003,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.021312966501021,
+            "object_max_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
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26429106722780843,
+            -0.3431007837474031,
+            1.04343136732394
+          ],
+          "object_origin_world": [
+            0.26429106722780843,
+            -0.3431007837474031,
+            1.04343136732394
+          ],
+          "frame_world": [
+            0.2642897577045068,
+            -0.34310433328561213,
+            1.0433247033880373
+          ],
+          "center_minus_frame": [
+            1.3095233016291452e-06,
+            3.549538209024483e-06,
+            0.00010666393590264
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2613651545255491,
+              0.15594443340382688,
+              0.8320167811723169
+            ],
+            "target_position": [
+              0.2757984022544914,
+              0.20194967547074155,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821618958026893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16847901408384527,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320167811723169,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675550813232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13833201465363176,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4c59fe64dfb25852373b0cffd0004ea4f031f6ecf515be7f0ef2d4e0cd850f4",
+    "visual_seed": 2300377927452625051,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..caee0966494e22e8280d79bc57144cf673470652
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3205452908301135,
+              -0.07503889340744892,
+              1.1649153057529635
+            ],
+            "current_z": 1.1649153057529635,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30380885734284235,
+            "gripper_z": 1.1561164828334303,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31599861353203035,
+              -0.07954986746421305,
+              1.1561164828334303
+            ],
+            "object_minus_gripper": [
+              0.004546677298083168,
+              0.004510974056764136,
+              0.008798822919533267
+            ],
+            "object_to_gripper_xy": 0.0064047764515011716,
+            "object_to_gripper_z": 0.008798822919533267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3205452908301135,
+              -0.09891528842279924,
+              1.1649153057529635
+            ],
+            "finger_b": [
+              0.31026358462104264,
+              -0.07503889340744892,
+              1.1649153057529635
+            ],
+            "finger_midpoint": [
+              0.3154044377255781,
+              -0.08697709091512408,
+              1.1649153057529635
+            ],
+            "object_minus_finger_midpoint": [
+              0.005140853104535437,
+              0.011938197507675163,
+              0.0
+            ],
+            "finger_gap": 0.025996071270457242,
+            "fingertip_max_gap": 0.09221509840029443,
+            "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": 1.1649153057529635,
+            "object_top_z": 1.2147909943084314,
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+            "object_projection_between_fingers": 0.8435718380471411,
+            "object_to_finger_line_xy": 0.009443353048448492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860754920014722,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9831857432861817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26374530152807674,
+              -0.34781939678956364,
+              0.8515396063885647
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+            "target_position": [
+              0.25763554773813285,
+              -0.3470950439862513,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006152542430361623,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18053974642894846,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396063885647,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516854201552402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550345917857484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1491671387470546,
+            "release_required_pad_clearance": 0.05275172958928742,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5539060757079114,
+            "object_max_tilt_deg": 12.0,
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2620027516607554,
+            -0.3498797408227677,
+            1.0433800275891236
+          ],
+          "object_origin_world": [
+            0.2620027516607554,
+            -0.3498797408227677,
+            1.0433800275891236
+          ],
+          "frame_world": [
+            0.26200134097649264,
+            -0.3498838378814967,
+            1.0432728667590503
+          ],
+          "center_minus_frame": [
+            1.4106842627370497e-06,
+            4.097058729002345e-06,
+            0.00010716083007333843
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2619395523991376,
+              0.16193374049284634,
+              0.8333819686904298
+            ],
+            "target_position": [
+              0.27919280539653646,
+              0.20651029564862616,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047798995894773086,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16332753940404807,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333819686904298,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670024589859,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13370495603556973,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "492d3f1065d6cfd9ed4e2f969979cb487b6e8b30d93e6df9838c719abcca5ef7",
+    "visual_seed": 1787251337670602135,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ecd6b502b4dd220b5da80397551f20422751b8d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_21_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3170296584119101,
+              -0.07663497605480324,
+              1.165496911991656
+            ],
+            "current_z": 1.165496911991656,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30439052318617943,
+            "gripper_z": 1.1567604155358993,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31255179617538237,
+              -0.08124281793642664,
+              1.1567604155358993
+            ],
+            "object_minus_gripper": [
+              0.004477862236527741,
+              0.004607841881623401,
+              0.008736496455756804
+            ],
+            "object_to_gripper_xy": 0.00642522038652091,
+            "object_to_gripper_z": 0.008736496455756804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3170296584119101,
+              -0.10030155950218352,
+              1.165496911991656
+            ],
+            "finger_b": [
+              0.3063950359559215,
+              -0.07663497605480324,
+              1.165496911991656
+            ],
+            "finger_midpoint": [
+              0.3117123471839158,
+              -0.08846826777849337,
+              1.165496911991656
+            ],
+            "object_minus_finger_midpoint": [
+              0.005317311227994281,
+              0.011833291723690131,
+              0.0
+            ],
+            "finger_gap": 0.02594614358345439,
+            "fingertip_max_gap": 0.09188788476094076,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012973071791727178,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165496911991656,
+            "object_top_z": 1.2153258217664176,
+            "finger_top_clearance": 0.04982890977476151,
+            "fingertip_min_top_clearance": 0.014948672932428452,
+            "object_projection_between_fingers": 0.8320041634582162,
+            "object_to_finger_line_xy": 0.009700292414420136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844394238047038,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7313897153044788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2604754506063999,
+              -0.3443294602881184,
+              0.851539582638199
+            ],
+            "target_position": [
+              0.2523192370708493,
+              -0.3445790680705253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00816003206381797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492671100503483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539582638199,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534309356087897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671546982128837,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15309546272009272,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26103574858672135,
+            -0.3426682128336513,
+            1.0433993264399704
+          ],
+          "object_origin_world": [
+            0.26103574858672135,
+            -0.3426682128336513,
+            1.0433993264399704
+          ],
+          "frame_world": [
+            0.2610344524171183,
+            -0.342671465104342,
+            1.043294408067954
+          ],
+          "center_minus_frame": [
+            1.2961696030378e-06,
+            3.25227069070122e-06,
+            0.00010491837201631604
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2609379456560102,
+              0.15833959286507307,
+              0.8326149666006804
+            ],
+            "target_position": [
+              0.27578371780100197,
+              0.20418185136613026,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04818619735005828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675342377403159,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326149666006804,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675868367573,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13722076221999874,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c237539db832dc38cec90bac52e618b4c03ddc792dbe27d4aeb3ac5a47a6669c",
+    "visual_seed": 2068914672476952978,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9137a5d0eb4b84ac3f715078ed30741b038e2239
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32294224917085507,
+              -0.07060955269845583,
+              1.1632286734666093
+            ],
+            "current_z": 1.1632286734666093,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30212216545184345,
+            "gripper_z": 1.1545288762829646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31836361260509527,
+              -0.07517961425998619,
+              1.1545288762829646
+            ],
+            "object_minus_gripper": [
+              0.004578636565759797,
+              0.004570061561530364,
+              0.008699797183644664
+            ],
+            "object_to_gripper_xy": 0.006469109326444408,
+            "object_to_gripper_z": 0.008699797183644664,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32294224917085507,
+              -0.09454976513962914,
+              1.1632286734666093
+            ],
+            "finger_b": [
+              0.31262113187244006,
+              -0.07060955269845583,
+              1.1632286734666093
+            ],
+            "finger_midpoint": [
+              0.31778169052164756,
+              -0.08257965891904248,
+              1.1632286734666093
+            ],
+            "object_minus_finger_midpoint": [
+              0.005160558649207503,
+              0.011970106220586654,
+              0.0
+            ],
+            "finger_gap": 0.026070274912554158,
+            "fingertip_max_gap": 0.09255633083543283,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013035137456277079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632286734666093,
+            "object_top_z": 1.2131102442115569,
+            "finger_top_clearance": 0.04988157074494759,
+            "fingertip_min_top_clearance": 0.014964471223484276,
+            "object_projection_between_fingers": 0.8432663650309353,
+            "object_to_finger_line_xy": 0.009477834107354862,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048778165417716415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.340991173369149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2581762215986634,
+              -0.33910753510396596,
+              0.8515395688005393
+            ],
+            "target_position": [
+              0.2524052552046708,
+              -0.33802073165528224,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005872409629501577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18453434111865533,
+            "gripper_away_threshold": 0.04,
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+              "rod_tip_xy_path_length": 0.0005933905635618707,
+              "rod_tip_xy_max_step": 3.221792996956086e-05,
+              "rod_tip_xy_range": 0.000593385617859414,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25629139350401464,
+            -0.3404849049268118,
+            1.0435485214644098
+          ],
+          "object_origin_world": [
+            0.25629139350401464,
+            -0.3404849049268118,
+            1.0435485214644098
+          ],
+          "frame_world": [
+            0.2562900348443732,
+            -0.34048825256795917,
+            1.0434452768080973
+          ],
+          "center_minus_frame": [
+            1.3586596414594254e-06,
+            3.3476411473443157e-06,
+            0.00010324465631250668
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2652640601727634,
+              0.15638141734834726,
+              0.8327001188614755
+            ],
+            "target_position": [
+              0.2802140007379176,
+              0.20256374779803177,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04854182082148856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1697152165744104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327001188614755,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675585712124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13923058213537498,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27d9fdd1b8be8d9fb7b6a60e8ac5429b6a0d59268cff48fd953f5c8a8212f359",
+    "visual_seed": 7780681951888329239,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a16c66f2d530241ee8e4c7256b04834f7f56cd2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_24_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32358249880447343,
+              -0.07256426309285574,
+              1.1656233676951153
+            ],
+            "current_z": 1.1656233676951153,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30451680007570436,
+            "gripper_z": 1.156783660242831,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3189392898418335,
+              -0.07720034027549491,
+              1.156783660242831
+            ],
+            "object_minus_gripper": [
+              0.004643208962639922,
+              0.00463607718263917,
+              0.008839707452284351
+            ],
+            "object_to_gripper_xy": 0.006561448095819035,
+            "object_to_gripper_z": 0.008839707452284351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32358249880447343,
+              -0.09641311506452707,
+              1.1656233676951153
+            ],
+            "finger_b": [
+              0.3129994612135628,
+              -0.07256426309285574,
+              1.1656233676951153
+            ],
+            "finger_midpoint": [
+              0.3182909800090181,
+              -0.0844886890786914,
+              1.1656233676951153
+            ],
+            "object_minus_finger_midpoint": [
+              0.005291518795455308,
+              0.011924425985835665,
+              0.0
+            ],
+            "finger_gap": 0.026091539337825945,
+            "fingertip_max_gap": 0.09165965773246224,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013045769668912972,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656233676951153,
+            "object_top_z": 1.2154936814306803,
+            "finger_top_clearance": 0.04987031373556494,
+            "fingertip_min_top_clearance": 0.014961094120669483,
+            "object_projection_between_fingers": 0.8354790255617719,
+            "object_to_finger_line_xy": 0.009673377014991033,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832982886623112,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3582262668533436,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2667111723035928,
+              -0.3466520692130683,
+              0.8515395641301181
+            ],
+            "target_position": [
+              0.2596018405887009,
+              -0.3467261171131319,
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+                  0.2667111733331085,
+                  -0.34665207142347887
+                ],
+                "gripper_position": [
+                  0.26829989826560857,
+                  -0.3440644902202413,
+                  1.0015784727642045
+                ],
+                "rod_tip_xy_dist": 0.003041100121204823,
+                "target_xy_drift": 3.40740736964927e-09,
+                "depth": 0.01956145649815466,
+                "bottom_clearance": 0.07987917447697279,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005973558281477934,
+              "rod_tip_xy_max_step": 3.23505078139049e-05,
+              "rod_tip_xy_range": 0.0005973443620615053,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26788412878162243,
+            -0.34532903444827756,
+            1.0433900726097078
+          ],
+          "object_origin_world": [
+            0.26788412878162243,
+            -0.34532903444827756,
+            1.0433900726097078
+          ],
+          "frame_world": [
+            0.2678825221980286,
+            -0.3453333869289194,
+            1.0432819364280788
+          ],
+          "center_minus_frame": [
+            1.60658359382726e-06,
+            4.3524806418449025e-06,
+            0.00010813618162908156
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2628132653228725,
+              0.1561567691916751,
+              0.8318037435582862
+            ],
+            "target_position": [
+              0.27792167579900795,
+              0.20221495727066452,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048472886815568994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16765798629356543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318037435582862,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672549030339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13755319637872565,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc5be13a1da0985ddf102f06f814754053ff6e7de5d02572333ee92d256b12bb",
+    "visual_seed": 242072839372464712,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b165272d04d123dcb84534869e1f4d2418cc4dcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_25_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3158937362683266,
+              -0.07841699328228675,
+              1.163716325909439
+            ],
+            "current_z": 1.163716325909439,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3026098178946729,
+            "gripper_z": 1.1550445179460496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114382887613908,
+              -0.0828989778746613,
+              1.1550445179460496
+            ],
+            "object_minus_gripper": [
+              0.004455447506935828,
+              0.004481984592374547,
+              0.0086718079633894
+            ],
+            "object_to_gripper_xy": 0.006319746701675908,
+            "object_to_gripper_z": 0.0086718079633894,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3158937362683266,
+              -0.10209278605298856,
+              1.163716325909439
+            ],
+            "finger_b": [
+              0.3054750530051922,
+              -0.07841699328228675,
+              1.163716325909439
+            ],
+            "finger_midpoint": [
+              0.3106843946367594,
+              -0.09025488966763766,
+              1.163716325909439
+            ],
+            "object_minus_finger_midpoint": [
+              0.005209341631567221,
+              0.011837896385350904,
+              0.0
+            ],
+            "finger_gap": 0.025866815116259167,
+            "fingertip_max_gap": 0.0922140820445996,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012933407558129583,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163716325909439,
+            "object_top_z": 1.2135246411745508,
+            "finger_top_clearance": 0.04980831526511187,
+            "fingertip_min_top_clearance": 0.014942494579533526,
+            "object_projection_between_fingers": 0.837766793238262,
+            "object_to_finger_line_xy": 0.009536179261841153,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048607041022299805,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.023383457067941,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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,
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+                ],
+                "rod_tip_xy": [
+                  0.26798353885318804,
+                  -0.34494395769382397
+                ],
+                "target_mouth_xy": [
+                  0.26827494222485077,
+                  -0.34618507378494034
+                ],
+                "gripper_position": [
+                  0.26797460261426514,
+                  -0.3449442696748649,
+                  1.001759848053465
+                ],
+                "rod_tip_xy_dist": 0.001274866689754032,
+                "target_xy_drift": 4.5211786184799e-08,
+                "depth": 0.019379897908105126,
+                "bottom_clearance": 0.08006069770848379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0003003419596990242,
+                  0.001240799962972161
+                ],
+                "rod_tip_xy": [
+                  0.26797460261426514,
+                  -0.34494426967486497
+                ],
+                "target_mouth_xy": [
+                  0.26827494457396417,
+                  -0.34618506963783713
+                ],
+                "gripper_position": [
+                  0.26796581973120037,
+                  -0.3449446129356069,
+                  1.0016398363550416
+                ],
+                "rod_tip_xy_dist": 0.001276632226158954,
+                "target_xy_drift": 4.0608156649901996e-08,
+                "depth": 0.01950006024214168,
+                "bottom_clearance": 0.07994054915930271,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005976515018544921,
+              "rod_tip_xy_max_step": 3.243023171030247e-05,
+              "rod_tip_xy_range": 0.0005976461356281644,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2674922390156804,
+            -0.3462849344744852,
+            1.043335994205487
+          ],
+          "object_origin_world": [
+            0.2674922390156804,
+            -0.3462849344744852,
+            1.043335994205487
+          ],
+          "frame_world": [
+            0.2675175850407052,
+            -0.34628160477427217,
+            1.0436486931604132
+          ],
+          "center_minus_frame": [
+            -2.5346025024797214e-05,
+            -3.329700213050568e-06,
+            -0.00031269895492624933
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2614973299330325,
+              0.1596524675335704,
+              0.8308648248682247
+            ],
+            "target_position": [
+              0.2793367629089311,
+              0.20529617388459837,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04900605369095179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16544363147175542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8308648248682247,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674685990771,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13615771696310286,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91791b2ecbf37dd6c7306f51e3d0f4232d505e3a8dfd2f30a57106c41638a4df",
+    "visual_seed": 2894656658262365247,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e166939aaa25ab8898fc7034a00d063c32f28e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_27_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32283632682292174,
+              -0.07503754895775139,
+              1.1661151046095721
+            ],
+            "current_z": 1.1661151046095721,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30500865619945094,
+            "gripper_z": 1.1571408848447622,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3183977432854244,
+              -0.07968731431984681,
+              1.1571408848447622
+            ],
+            "object_minus_gripper": [
+              0.00443858353749732,
+              0.004649765362095423,
+              0.008974219764809943
+            ],
+            "object_to_gripper_xy": 0.006428167837096711,
+            "object_to_gripper_z": 0.008974219764809943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32283632682292174,
+              -0.09861445475579847,
+              1.1661151046095721
+            ],
+            "finger_b": [
+              0.31203762266708157,
+              -0.07503754895775139,
+              1.1661151046095721
+            ],
+            "finger_midpoint": [
+              0.31743697474500165,
+              -0.08682600185677493,
+              1.1661151046095721
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399352077920083,
+              0.011788452899023541,
+              0.0
+            ],
+            "finger_gap": 0.025932267514726624,
+            "fingertip_max_gap": 0.09155089459239371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012966133757363312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661151046095721,
+            "object_top_z": 1.2160148995860354,
+            "finger_top_clearance": 0.04989979497646324,
+            "fingertip_min_top_clearance": 0.014969938492938938,
+            "object_projection_between_fingers": 0.8265947266832805,
+            "object_to_finger_line_xy": 0.009817885400057642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827544729619686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.356586894803632,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "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",
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+              },
+              {
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+                  0.0027630831572298953
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+                "rod_tip_xy": [
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+                  0.2640592467239248,
+                  -0.3356934560631747,
+                  1.001537786255338
+                ],
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+                "target_xy_drift": 6.120587166429693e-08,
+                "depth": 0.01960551104887498,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0009395399957411454,
+                  0.0027636067830049127
+                ],
+                "rod_tip_xy": [
+                  0.2640592467239247,
+                  -0.33569345606317474
+                ],
+                "target_mouth_xy": [
+                  0.26499878671966587,
+                  -0.33845706284617966
+                ],
+                "gripper_position": [
+                  0.26406599223046173,
+                  -0.33575467834866596,
+                  1.000945754056822
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+                "rod_tip_xy_dist": 0.002918948073307923,
+                "target_xy_drift": 4.727888882766597e-09,
+                "depth": 0.01972218322151853,
+                "bottom_clearance": 0.07971854608289519,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005936019117076078,
+              "rod_tip_xy_max_step": 3.21823263265317e-05,
+              "rod_tip_xy_range": 0.0005935944621468711,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2635736057663013,
+            -0.3369490429419802,
+            1.0435072848088218
+          ],
+          "object_origin_world": [
+            0.2635736057663013,
+            -0.3369490429419802,
+            1.0435072848088218
+          ],
+          "frame_world": [
+            0.2635722676739641,
+            -0.3369522700942865,
+            1.0434023729467123
+          ],
+          "center_minus_frame": [
+            1.3380923372108278e-06,
+            3.227152306328751e-06,
+            0.00010491186210948023
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26048219718876375,
+              0.16253611775424212,
+              0.832174202673023
+            ],
+            "target_position": [
+              0.2757958815144896,
+              0.20872739795004064,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866357255437325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16724416100971753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832174202673023,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677544750342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362354692567757,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "445cad6e0b64be6159d79e3210fa10d50c5bdecb82c140bc3e9b232c3dcc5349",
+    "visual_seed": 5032032153373634805,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc6cab6ffd984f6342e435a1b07314e001e1932e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3207635507090596,
+              -0.07735565947627424,
+              1.1643679341309787
+            ],
+            "current_z": 1.1643679341309787,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3032615453255023,
+            "gripper_z": 1.155455971033937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3164977600880369,
+              -0.0819502743690077,
+              1.155455971033937
+            ],
+            "object_minus_gripper": [
+              0.004265790621022725,
+              0.004594614892733467,
+              0.008911963097041786
+            ],
+            "object_to_gripper_xy": 0.006269565825073824,
+            "object_to_gripper_z": 0.008911963097041786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3207635507090596,
+              -0.10081637503646791,
+              1.1643679341309787
+            ],
+            "finger_b": [
+              0.31004999125714494,
+              -0.07735565947627424,
+              1.1643679341309787
+            ],
+            "finger_midpoint": [
+              0.31540677098310227,
+              -0.08908601725637108,
+              1.1643679341309787
+            ],
+            "object_minus_finger_midpoint": [
+              0.005356779725957328,
+              0.011730357780096845,
+              0.0
+            ],
+            "finger_gap": 0.02579119095206779,
+            "fingertip_max_gap": 0.09211972394896137,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012895595476033903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643679341309787,
+            "object_top_z": 1.2143455644218064,
+            "finger_top_clearance": 0.04997763029082769,
+            "fingertip_min_top_clearance": 0.01499328908724834,
+            "object_projection_between_fingers": 0.8274461021356978,
+            "object_to_finger_line_xy": 0.00974548912478363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048559861974480686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7201548385865306,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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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+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  0.0010968851679724612
+                ],
+                "rod_tip_xy": [
+                  0.2605604273374293,
+                  -0.34281348492529884
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+                  0.2605520507942799,
+                  -0.3428134398779231,
+                  1.001916145068257
+                ],
+                "rod_tip_xy_dist": 0.0016926898858402413,
+                "target_xy_drift": 3.741399030802919e-08,
+                "depth": 0.01922743584043507,
+                "bottom_clearance": 0.08021332198192266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012975536591072756,
+                  0.001096988836015389
+                ],
+                "rod_tip_xy": [
+                  0.2605520507942799,
+                  -0.3428134398779231
+                ],
+                "target_mouth_xy": [
+                  0.2618496044533872,
+                  -0.3439104287139385
+                ],
+                "gripper_position": [
+                  0.26055821973594784,
+                  -0.34288754935492066,
+                  1.0014116263356732
+                ],
+                "rod_tip_xy_dist": 0.0016991262474004333,
+                "target_xy_drift": 3.076568134835346e-08,
+                "depth": 0.01934370546319497,
+                "bottom_clearance": 0.08009683276307256,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005997099746408462,
+              "rod_tip_xy_max_step": 3.249866539501177e-05,
+              "rod_tip_xy_range": 0.0005997022138142641,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26003772771760275,
+            -0.3441798805984424,
+            1.043406485366447
+          ],
+          "object_origin_world": [
+            0.26003772771760275,
+            -0.3441798805984424,
+            1.043406485366447
+          ],
+          "frame_world": [
+            0.2600362832364672,
+            -0.3441834817877594,
+            1.043301811150966
+          ],
+          "center_minus_frame": [
+            1.444481135537412e-06,
+            3.6011893170262432e-06,
+            0.00010467421548110423
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25716917199149486,
+              0.16014205407182056,
+              0.8320837259343657
+            ],
+            "target_position": [
+              0.2737654958915183,
+              0.20537544576158673,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04818192286277392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1659920285475898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320837259343657,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670960220898,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13653421801044172,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88e3bea2d30fb8834f1e0c125870925b860ff9e59fbd4cbef49e5d4dcffcddd5",
+    "visual_seed": 3663566883131317795,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e420886203bbab50692b512f5bfe9cfc09d1cce5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.322683113673355,
+              -0.0787078813367789,
+              1.1638882860783744
+            ],
+            "current_z": 1.1638882860783744,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3027818376682532,
+            "gripper_z": 1.1548931595318217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31818657717662424,
+              -0.08319264501896007,
+              1.1548931595318217
+            ],
+            "object_minus_gripper": [
+              0.004496536496730763,
+              0.0044847636821811615,
+              0.008995126546552656
+            ],
+            "object_to_gripper_xy": 0.006350743716403843,
+            "object_to_gripper_z": 0.008995126546552656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.322683113673355,
+              -0.10245790952014446,
+              1.1638882860783744
+            ],
+            "finger_b": [
+              0.3123193650439433,
+              -0.0787078813367789,
+              1.1638882860783744
+            ],
+            "finger_midpoint": [
+              0.31750123935864916,
+              -0.09058289542846168,
+              1.1638882860783744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005181874314705848,
+              0.011875014091682776,
+              0.0
+            ],
+            "finger_gap": 0.025912759875480088,
+            "fingertip_max_gap": 0.09180195880415085,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012956379937740044,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638882860783744,
+            "object_top_z": 1.2136735077602383,
+            "finger_top_clearance": 0.049785221681863945,
+            "fingertip_min_top_clearance": 0.014935566504559149,
+            "object_projection_between_fingers": 0.8400418398403658,
+            "object_to_finger_line_xy": 0.009498769070397345,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048400979402075425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6862676419794151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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",
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+              },
+              {
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+                "rod_tip_xy": [
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+                "target_xy_drift": 4.2287556078460766e-08,
+                "depth": 0.01916992570659437,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001251379612350334,
+                  0.00024648407543348405
+                ],
+                "rod_tip_xy": [
+                  0.26266651619907155,
+                  -0.3393532070153006
+                ],
+                "target_mouth_xy": [
+                  0.2614151365867212,
+                  -0.33959969109073407
+                ],
+                "gripper_position": [
+                  0.26265459488510445,
+                  -0.3393592373313881,
+                  1.0014519098888441
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+                "rod_tip_xy_dist": 0.001275423589890187,
+                "target_xy_drift": 2.0982305770304077e-09,
+                "depth": 0.019675034433389915,
+                "bottom_clearance": 0.07976551158288092,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005954040499408901,
+              "rod_tip_xy_max_step": 3.227778278221676e-05,
+              "rod_tip_xy_range": 0.000595396346118913,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26220464640013735,
+            -0.34067762712297134,
+            1.0434401398222566
+          ],
+          "object_origin_world": [
+            0.26220464640013735,
+            -0.34067762712297134,
+            1.0434401398222566
+          ],
+          "frame_world": [
+            0.2622031953860931,
+            -0.34068093782789355,
+            1.0433351619230897
+          ],
+          "center_minus_frame": [
+            1.4510140442514086e-06,
+            3.3107049222103058e-06,
+            0.00010497789916685818
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26227598110962536,
+              0.15881592449296322,
+              0.8314447663059465
+            ],
+            "target_position": [
+              0.2792733507471821,
+              0.20398721644028328,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048263404260223484,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16512767740383902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314447663059465,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566753295495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13589340522108215,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8e8969c415af5cf9beb7de6244899fb5aef48dc33f652777223cda6e637ef78",
+    "visual_seed": 6719880599866152623,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ec0ba34cd1bce9acc1948dd4ceb55194cc943f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32169980038374063,
+              -0.07357605825162856,
+              1.1652982594403687
+            ],
+            "current_z": 1.1652982594403687,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3041917514256025,
+            "gripper_z": 1.156401104630774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31720933107473137,
+              -0.07818637515540483,
+              1.156401104630774
+            ],
+            "object_minus_gripper": [
+              0.0044904693090092596,
+              0.004610316903776265,
+              0.008897154809594632
+            ],
+            "object_to_gripper_xy": 0.0064357856216936925,
+            "object_to_gripper_z": 0.008897154809594632,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32169980038374063,
+              -0.09725355024491802,
+              1.1652982594403687
+            ],
+            "finger_b": [
+              0.31104597585780097,
+              -0.07357605825162856,
+              1.1652982594403687
+            ],
+            "finger_midpoint": [
+              0.3163728881207708,
+              -0.0854148042482733,
+              1.1652982594403687
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053269122629698296,
+              0.011838745996644737,
+              0.0
+            ],
+            "finger_gap": 0.02596396741874785,
+            "fingertip_max_gap": 0.0916073806725026,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01298198370937393,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652982594403687,
+            "object_top_z": 1.2152209324342385,
+            "finger_top_clearance": 0.049922672993869766,
+            "fingertip_min_top_clearance": 0.014976801898160929,
+            "object_projection_between_fingers": 0.8316283499807466,
+            "object_to_finger_line_xy": 0.009715612442522939,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483036903362513,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3650767985365184,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+              },
+              {
+                "frame": 409,
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+                ],
+                "rod_tip_xy": [
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+                  -0.3419610920286238,
+                  1.0017535787817626
+                ],
+                "rod_tip_xy_dist": 0.00224437044379187,
+                "target_xy_drift": 6.458914252804336e-10,
+                "depth": 0.01938957977927369,
+                "bottom_clearance": 0.08005097307856557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001836598973523007,
+                  0.0013023509618533269
+                ],
+                "rod_tip_xy": [
+                  0.2614498857690135,
+                  -0.34196109202862385
+                ],
+                "target_mouth_xy": [
+                  0.2632864847425365,
+                  -0.3432634429904772
+                ],
+                "gripper_position": [
+                  0.26144127094071273,
+                  -0.3419610166165223,
+                  1.001636945757863
+                ],
+                "rod_tip_xy_dist": 0.002251491465092872,
+                "target_xy_drift": 6.432736848057453e-10,
+                "depth": 0.019506209572699107,
+                "bottom_clearance": 0.07993432719322946,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005951690485029289,
+              "rod_tip_xy_max_step": 3.229954027469048e-05,
+              "rod_tip_xy_range": 0.0005951627506346237,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2609012551348677,
+            -0.3433356712841376,
+            1.0434406127707423
+          ],
+          "object_origin_world": [
+            0.2609012551348677,
+            -0.3433356712841376,
+            1.0434406127707423
+          ],
+          "frame_world": [
+            0.2608999289188021,
+            -0.3433390560984532,
+            1.043335484593724
+          ],
+          "center_minus_frame": [
+            1.3262160656335453e-06,
+            3.3848143156101074e-06,
+            0.00010512817701835431
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26204844691078244,
+              0.16105132931227434,
+              0.8321495075303824
+            ],
+            "target_position": [
+              0.27854897375183924,
+              0.20638775732975273,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048245819419058845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1664312002700754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321495075303824,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670057488348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13699529603728214,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08c5406891214bf7bac00fe9125a9279a02e25be5f3fc391010dfd0078fb8e1f",
+    "visual_seed": 8439862159617154800,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a86c0b771ece230d98f578ffb0e71745ea1a962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.316179601547401,
+              -0.079768873704502,
+              1.1650429778057623
+            ],
+            "current_z": 1.1650429778057623,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3039364697909964,
+            "gripper_z": 1.1563604691549385,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31177014826596894,
+              -0.08436665663408503,
+              1.1563604691549385
+            ],
+            "object_minus_gripper": [
+              0.004409453281432052,
+              0.00459778292958303,
+              0.008682508650823761
+            ],
+            "object_to_gripper_xy": 0.006370469849916645,
+            "object_to_gripper_z": 0.008682508650823761,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.316179601547401,
+              -0.1033356020555245,
+              1.1650429778057623
+            ],
+            "finger_b": [
+              0.30547479520635296,
+              -0.079768873704502,
+              1.1650429778057623
+            ],
+            "finger_midpoint": [
+              0.310827198376877,
+              -0.09155223788001325,
+              1.1650429778057623
+            ],
+            "object_minus_finger_midpoint": [
+              0.005352403170523989,
+              0.011783364175511249,
+              0.0
+            ],
+            "finger_gap": 0.025884040719528892,
+            "fingertip_max_gap": 0.09188485692745949,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012942020359764434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650429778057623,
+            "object_top_z": 1.214911009105141,
+            "finger_top_clearance": 0.04986803129937867,
+            "fingertip_min_top_clearance": 0.014960409389813634,
+            "object_projection_between_fingers": 0.8289616567303821,
+            "object_to_finger_line_xy": 0.009746440512259135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048442428463729745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6193753344277488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "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",
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+                "dummy_base_revolute_z_joint",
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+              },
+              {
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+                  0.000958668304706034
+                ],
+                "rod_tip_xy": [
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+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.019305691927385293,
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0009590725238436404
+                ],
+                "rod_tip_xy": [
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+                  -0.33755513071002363
+                ],
+                "target_mouth_xy": [
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+                  -0.3385142032338673
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+                "gripper_position": [
+                  0.2619918458276387,
+                  -0.3375546400782632,
+                  1.001722504136813
+                ],
+                "rod_tip_xy_dist": 0.0018075394400342295,
+                "target_xy_drift": 0.0,
+                "depth": 0.019421204018258087,
+                "bottom_clearance": 0.08001929475535452,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005954310602444669,
+              "rod_tip_xy_max_step": 3.2252350253671026e-05,
+              "rod_tip_xy_range": 0.0005954189338278534,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2614778963972122,
+            -0.3388611705275611,
+            1.0434563708139573
+          ],
+          "object_origin_world": [
+            0.2614778963972122,
+            -0.3388611705275611,
+            1.0434563708139573
+          ],
+          "frame_world": [
+            0.26147656174315015,
+            -0.33886437769298344,
+            1.0433520370671394
+          ],
+          "center_minus_frame": [
+            1.3346540620462477e-06,
+            3.2071654223475576e-06,
+            0.0001043337468178418
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26145081972320133,
+              0.1574454449826951,
+              0.833070980645696
+            ],
+            "target_position": [
+              0.27791496792818815,
+              0.20231719201202175,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779688125369327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16422510131144472,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833070980645696,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671425812652,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13446636673351592,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7ba7e3ab082c29068fa4449d32d3b02017e6fdb04288435dfff2b3f0914360e",
+    "visual_seed": 4990303600592084204,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e904148c77826275d5f0657bc9c745c88b3487bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3222268923779769,
+              -0.07927950487894775,
+              1.164700633740653
+            ],
+            "current_z": 1.164700633740653,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30359418533053173,
+            "gripper_z": 1.155773550733408,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31788112157318793,
+              -0.08375470212137025,
+              1.155773550733408
+            ],
+            "object_minus_gripper": [
+              0.004345770804788984,
+              0.004475197242422499,
+              0.008927083007244985
+            ],
+            "object_to_gripper_xy": 0.006238037691962291,
+            "object_to_gripper_z": 0.008927083007244985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3222268923779769,
+              -0.10301815480224284,
+              1.164700633740653
+            ],
+            "finger_b": [
+              0.31200034837567947,
+              -0.07927950487894775,
+              1.164700633740653
+            ],
+            "finger_midpoint": [
+              0.3171136203768282,
+              -0.0911488298405953,
+              1.164700633740653
+            ],
+            "object_minus_finger_midpoint": [
+              0.005113272001148694,
+              0.011869324961647554,
+              0.0
+            ],
+            "finger_gap": 0.025847740760300192,
+            "fingertip_max_gap": 0.0921152906245937,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012923870380150092,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164700633740653,
+            "object_top_z": 1.2145460037976956,
+            "finger_top_clearance": 0.049845370057042704,
+            "fingertip_min_top_clearance": 0.01495361101711281,
+            "object_projection_between_fingers": 0.8434645867361829,
+            "object_to_finger_line_xy": 0.009392091566028703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855764531229685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8493488489497587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint4",
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+                "panda_leftfingertip",
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+                "panda_rightfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
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+                "wrist_2_joint",
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+                "target_xy_drift": 4.1465538305611665e-08,
+                "depth": 0.01924842887924272,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001708622892326761,
+                  0.00249291471148827
+                ],
+                "rod_tip_xy": [
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+                  -0.34138585041067004
+                ],
+                "target_mouth_xy": [
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+                  -0.3438787651221583
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+                "gripper_position": [
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+                  -0.3414636621112571,
+                  1.0013857558914276
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+                "rod_tip_xy_dist": 0.003022253455112213,
+                "target_xy_drift": 6.796459247786834e-08,
+                "depth": 0.01936798608383261,
+                "bottom_clearance": 0.0800725135074184,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006010300129608953,
+              "rod_tip_xy_max_step": 3.258849774065237e-05,
+              "rod_tip_xy_range": 0.0006010229427617269,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2691126889191828,
+            -0.3428155716699989,
+            1.0433749611648897
+          ],
+          "object_origin_world": [
+            0.2691126889191828,
+            -0.3428155716699989,
+            1.0433749611648897
+          ],
+          "frame_world": [
+            0.2691111956488851,
+            -0.34281985634405887,
+            1.0432665474093736
+          ],
+          "center_minus_frame": [
+            1.4932702976921952e-06,
+            4.284674059995552e-06,
+            0.00010841375551606802
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26356322683257266,
+              0.15682463611315953,
+              0.8312625783052557
+            ],
+            "target_position": [
+              0.27913233623173506,
+              0.2033059013145211,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04901943677973455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16608073771219156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312625783052557,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674054315273,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13618742269350265,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7cdd15f5ab58e2209a99a6a73d8bd156e9919d10b823af106b6787ac7bf9e0f5",
+    "visual_seed": 6444491872340773346,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e738eb07e98e3c32144b7adbb237c8e00c723944
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3195763635363845,
+              -0.08082927701407608,
+              1.163727768802796
+            ],
+            "current_z": 1.163727768802796,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3026212011833852,
+            "gripper_z": 1.154831016684961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31515295495263146,
+              -0.08528346202981613,
+              1.154831016684961
+            ],
+            "object_minus_gripper": [
+              0.0044234085837530634,
+              0.0044541850157400475,
+              0.008896752117835138
+            ],
+            "object_to_gripper_xy": 0.006277444356843273,
+            "object_to_gripper_z": 0.008896752117835138,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3195763635363845,
+              -0.1045522220227538,
+              1.163727768802796
+            ],
+            "finger_b": [
+              0.3092852352133665,
+              -0.08082927701407608,
+              1.163727768802796
+            ],
+            "finger_midpoint": [
+              0.3144307993748755,
+              -0.09269074951841494,
+              1.163727768802796
+            ],
+            "object_minus_finger_midpoint": [
+              0.00514556416150902,
+              0.01186147250433886,
+              0.0
+            ],
+            "finger_gap": 0.025858952841241876,
+            "fingertip_max_gap": 0.09199118687740573,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012929476420620938,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163727768802796,
+            "object_top_z": 1.213531105654566,
+            "finger_top_clearance": 0.04980333685176985,
+            "fingertip_min_top_clearance": 0.014941001055530955,
+            "object_projection_between_fingers": 0.8416186214001554,
+            "object_to_finger_line_xy": 0.00944105791069914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849559343870287,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8191465992637141,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": [
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+                "depth": 0.01917906645809664,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
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+                  0.0011006812568732371
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+                "rod_tip_xy": [
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+                  -0.34619518839552366
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+                "target_mouth_xy": [
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+                "gripper_position": [
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+                  1.0014442727351736
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+                "target_xy_drift": 4.5575719145409395e-08,
+                "depth": 0.01968368295097267,
+                "bottom_clearance": 0.07975690853618123,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005954558212980521,
+              "rod_tip_xy_max_step": 3.2405011409251655e-05,
+              "rod_tip_xy_range": 0.0005954485200688422,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2571220817107099,
+            -0.3474754675414902,
+            1.0434426594319144
+          ],
+          "object_origin_world": [
+            0.2571220817107099,
+            -0.3474754675414902,
+            1.0434426594319144
+          ],
+          "frame_world": [
+            0.25712071348053755,
+            -0.3474790709199213,
+            1.0433386148105868
+          ],
+          "center_minus_frame": [
+            1.3682301723272339e-06,
+            3.6033784310829375e-06,
+            0.00010404462132762582
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26180728585785745,
+              0.1540216949879361,
+              0.8332018153505791
+            ],
+            "target_position": [
+              0.27739894859284003,
+              0.19920358600535798,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779647709561481,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16691689242530075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332018153505791,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675595336248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13601848861211163,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba59a91817a8337e869ee541fdc7c9e6bd176e3a6ed90d6ecd6ccea6c5c8c39c",
+    "visual_seed": 8250448476280596383,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25aec0cc1d1f5fe8cc83d40ad174d2a8e20836e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_39_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3208989232839688,
+              -0.080707812096393,
+              1.1662000170899667
+            ],
+            "current_z": 1.1662000170899667,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.30509350907520094,
+            "gripper_z": 1.1572792747502363,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3163408426589971,
+              -0.08531944569145963,
+              1.1572792747502363
+            ],
+            "object_minus_gripper": [
+              0.004558080624971705,
+              0.004611633595066639,
+              0.008920742339730392
+            ],
+            "object_to_gripper_xy": 0.006484077682977719,
+            "object_to_gripper_z": 0.008920742339730392,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3208989232839688,
+              -0.10441313105589803,
+              1.1662000170899667
+            ],
+            "finger_b": [
+              0.31022144472188096,
+              -0.080707812096393,
+              1.1662000170899667
+            ],
+            "finger_midpoint": [
+              0.31556018400292485,
+              -0.09256047157614551,
+              1.1662000170899667
+            ],
+            "object_minus_finger_midpoint": [
+              0.005338739281043947,
+              0.011852659479752517,
+              0.0
+            ],
+            "finger_gap": 0.025999051817628162,
+            "fingertip_max_gap": 0.09148037513968602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012999525908814091,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662000170899667,
+            "object_top_z": 1.2160923643409527,
+            "finger_top_clearance": 0.04989234725098601,
+            "fingertip_min_top_clearance": 0.014967704175295804,
+            "object_projection_between_fingers": 0.8313359994788831,
+            "object_to_finger_line_xy": 0.009735471769241633,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824018756984301,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1876757963438445,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000596714333033516,
+              "rod_tip_xy_max_step": 3.251577265896967e-05,
+              "rod_tip_xy_range": 0.0005967041375489644,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26515322127295543,
+            -0.3432300937835312,
+            1.043399308492134
+          ],
+          "object_origin_world": [
+            0.26515322127295543,
+            -0.3432300937835312,
+            1.043399308492134
+          ],
+          "frame_world": [
+            0.265151862188587,
+            -0.3432338170453052,
+            1.0432929418553591
+          ],
+          "center_minus_frame": [
+            1.3590843684352372e-06,
+            3.7232617740023954e-06,
+            0.00010636663677487945
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2649601945760635,
+              0.15588382009905807,
+              0.83219576851953
+            ],
+            "target_position": [
+              0.28120319668690097,
+              0.20122147783273592,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815950919962524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16597553890455344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83219576851953,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671510763966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13662991087412998,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5cf5f5b45ea713e7e7fa7c4ab2ed10390ef4b07b610a330a714b0b977ad56a87",
+    "visual_seed": 6995656942241140292,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0668a7539111b07e4e28bdc35909a21b44ab74ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3204735992465554,
+              -0.07059711787488424,
+              1.167058181114177
+            ],
+            "current_z": 1.167058181114177,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30595173270405573,
+            "gripper_z": 1.158247153539598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.316117370853054,
+              -0.07521303997031946,
+              1.158247153539598
+            ],
+            "object_minus_gripper": [
+              0.00435622839350136,
+              0.004615922095435224,
+              0.008811027574578967
+            ],
+            "object_to_gripper_xy": 0.006346925445243117,
+            "object_to_gripper_z": 0.008811027574578967,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3204735992465554,
+              -0.09411821088723187,
+              1.167058181114177
+            ],
+            "finger_b": [
+              0.3097308164571712,
+              -0.07059711787488424,
+              1.167058181114177
+            ],
+            "finger_midpoint": [
+              0.31510220785186327,
+              -0.08235766438105804,
+              1.167058181114177
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053713913946921155,
+              0.011760546506173808,
+              0.0
+            ],
+            "finger_gap": 0.025858252039830484,
+            "fingertip_max_gap": 0.0919709940872376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012929126019915247,
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+              },
+              {
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+                "rod_tip_xy": [
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+                "depth": 0.019581255877555548,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005973232618488423,
+              "rod_tip_xy_max_step": 3.2400586565053644e-05,
+              "rod_tip_xy_range": 0.000597314220677953,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2679942116984339,
+            -0.33597271560647596,
+            1.043407152992944
+          ],
+          "object_origin_world": [
+            0.2679942116984339,
+            -0.33597271560647596,
+            1.043407152992944
+          ],
+          "frame_world": [
+            0.2679927178959659,
+            -0.3359761367137868,
+            1.0433009999917828
+          ],
+          "center_minus_frame": [
+            1.4938024680000161e-06,
+            3.4211073108303403e-06,
+            0.0001061530011612355
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25908451355679896,
+              0.15879168632674115,
+              0.8323673951907218
+            ],
+            "target_position": [
+              0.27386238871078744,
+              0.2048210749708435,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048343460912689,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16688024154432435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323673951907218,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677372809966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356147806053721,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb7ff0574a4dac352860e8f2ff9e9304dccb7fc3e36bc09ac983d220cf7d135f",
+    "visual_seed": 7005326509178911029,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..efed95583b13025e42cb31c17f12bd6746ec2321
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.32219142564640413,
+              -0.07388082963871694,
+              1.1632033898288854
+            ],
+            "current_z": 1.1632033898288854,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3020969414187642,
+            "gripper_z": 1.1543871234730552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3177840376918472,
+              -0.07835247416476321,
+              1.1543871234730552
+            ],
+            "object_minus_gripper": [
+              0.004407387954556918,
+              0.004471644526046273,
+              0.008816266355830216
+            ],
+            "object_to_gripper_xy": 0.006278588483830822,
+            "object_to_gripper_z": 0.008816266355830216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32219142564640413,
+              -0.0975989945420449,
+              1.1632033898288854
+            ],
+            "finger_b": [
+              0.31188016570284427,
+              -0.07388082963871694,
+              1.1632033898288854
+            ],
+            "finger_midpoint": [
+              0.3170357956746242,
+              -0.08573991209038093,
+              1.1632033898288854
+            ],
+            "object_minus_finger_midpoint": [
+              0.005155629971779929,
+              0.011859082451663991,
+              0.0
+            ],
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                "rod_tip_xy": [
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+                  -0.3449522089596351
+                ],
+                "target_mouth_xy": [
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+                "gripper_position": [
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+                "rod_tip_xy_dist": 0.0016054304793756697,
+                "target_xy_drift": 4.287317891297442e-08,
+                "depth": 0.01934955868300714,
+                "bottom_clearance": 0.08009113738413676,
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+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005972160693238328,
+              "rod_tip_xy_max_step": 3.2416723315645175e-05,
+              "rod_tip_xy_range": 0.0005972110551110825,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26312977321843534,
+            -0.34632151128230976,
+            1.0433930643747127
+          ],
+          "object_origin_world": [
+            0.26312977321843534,
+            -0.34632151128230976,
+            1.0433930643747127
+          ],
+          "frame_world": [
+            0.26312833470606567,
+            -0.3463256246767954,
+            1.0432865344899096
+          ],
+          "center_minus_frame": [
+            1.4385123696669666e-06,
+            4.113394485638633e-06,
+            0.000106529884803086
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2599908140342544,
+              0.16250690552804362,
+              0.8307008306894194
+            ],
+            "target_position": [
+              0.2777844515036444,
+              0.2084263327676506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0492463941056159,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1653516068350121,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8307008306894194,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672397558246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13614757783200893,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "336122ceb76ca9bc2b5f3f457d95fd82357ffaff2a20ce7bf6c0f59868ecaf18",
+    "visual_seed": 3695769657945618653,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31cf1646e01e61d57870c9cdfdd0fd6150a4779a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_41_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.32148591246649183,
+              -0.07879630292800632,
+              1.1658281754832163
+            ],
+            "current_z": 1.1658281754832163,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3047216674684502,
+            "gripper_z": 1.1568433272513083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3172437718425104,
+              -0.08334390157015424,
+              1.1568433272513083
+            ],
+            "object_minus_gripper": [
+              0.0042421406239814274,
+              0.004547598642147918,
+              0.008984848231907927
+            ],
+            "object_to_gripper_xy": 0.006219036137835116,
+            "object_to_gripper_z": 0.008984848231907927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32148591246649183,
+              -0.10223640055479905,
+              1.1658281754832163
+            ],
+            "finger_b": [
+              0.3108533568719208,
+              -0.07879630292800632,
+              1.1658281754832163
+            ],
+            "finger_midpoint": [
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006012851736142572,
+              "rod_tip_xy_max_step": 3.2570759075374336e-05,
+              "rod_tip_xy_range": 0.0006012768459105861,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.271214398301669,
+            -0.3368557602984925,
+            1.043385007514228
+          ],
+          "object_origin_world": [
+            0.271214398301669,
+            -0.3368557602984925,
+            1.043385007514228
+          ],
+          "frame_world": [
+            0.27121300508783797,
+            -0.33685938361984114,
+            1.0432772904184402
+          ],
+          "center_minus_frame": [
+            1.3932138310246422e-06,
+            3.6233213486225324e-06,
+            0.00010771709578771826
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25649324727066775,
+              0.16127744187718407,
+              0.8304635504970487
+            ],
+            "target_position": [
+              0.2740927956068349,
+              0.20687229035615096,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04887365660002363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1643152197263171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8304635504970487,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673308904252,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13523294472285247,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a4b546b228dbf027aa5f12f22afdf426a3f53bb033d89602fb61bf2de3ac218",
+    "visual_seed": 7431358245660702632,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1616f1b4ffc2f2395b5ca961c7ad1e2ff5f61b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_42_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3170726804902299,
+              -0.06942625277448064,
+              1.1654310068787854
+            ],
+            "current_z": 1.1654310068787854,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006008992715540145,
+              "rod_tip_xy_max_step": 3.2588604866947226e-05,
+              "rod_tip_xy_range": 0.0006008882075444774,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26216779491772607,
+            -0.34056139606634006,
+            1.043396350668348
+          ],
+          "object_origin_world": [
+            0.26216779491772607,
+            -0.34056139606634006,
+            1.043396350668348
+          ],
+          "frame_world": [
+            0.26216638869293063,
+            -0.34056479504593806,
+            1.0432913125797079
+          ],
+          "center_minus_frame": [
+            1.406224795441613e-06,
+            3.398979598001617e-06,
+            0.0001050380886400415
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25996647865778805,
+              0.1530298869837511,
+              0.8328985247276048
+            ],
+            "target_position": [
+              0.2743877327553667,
+              0.19910129597530968,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827574231655473,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16679136949839626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328985247276048,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672648415506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13654558490532553,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "752f54e605e012ef73d2e49d6500a1848efbeb7eba4041885404a61471bb8072",
+    "visual_seed": 8035044950951080883,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..983b54702b4e6299537e65e831ab1ce3aa3ec902
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_46_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.31656174447127433,
+              -0.07483138182554364,
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+              },
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005931967406397815,
+              "rod_tip_xy_max_step": 3.219991822847019e-05,
+              "rod_tip_xy_range": 0.000593187743707113,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2590246413361738,
+            -0.34293383038728126,
+            1.0435082462764262
+          ],
+          "object_origin_world": [
+            0.2590246413361738,
+            -0.34293383038728126,
+            1.0435082462764262
+          ],
+          "frame_world": [
+            0.25902346090875783,
+            -0.34293705197396196,
+            1.0434039893707485
+          ],
+          "center_minus_frame": [
+            1.1804274159810113e-06,
+            3.2215866807017157e-06,
+            0.00010425690567772428
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2629869326149731,
+              0.1638336352352648,
+              0.831443113677026
+            ],
+            "target_position": [
+              0.2810438258137626,
+              0.20895115901207767,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04859673182163348,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16449151205322604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831443113677026,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674832224395,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13477929691160961,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb1a507ba649d7b66071424f26e01a4d190dc7cf92f5b834c482ec641d95381e",
+    "visual_seed": 7303905881264409057,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c5a326e41b700be69d8d755fa6425a30607b35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+                "centered": true
+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000601173066240245,
+              "rod_tip_xy_max_step": 3.2600996598064286e-05,
+              "rod_tip_xy_range": 0.0006011616848167718,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2632884089246651,
+            -0.34469942203066684,
+            1.0433714515609702
+          ],
+          "object_origin_world": [
+            0.2632884089246651,
+            -0.34469942203066684,
+            1.0433714515609702
+          ],
+          "frame_world": [
+            0.26331370266171844,
+            -0.3446974064425492,
+            1.0436847434423195
+          ],
+          "center_minus_frame": [
+            -2.529373705334459e-05,
+            -2.015588117632028e-06,
+            -0.0003132918813493202
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25792942571601385,
+              0.15776236984911668,
+              0.8318587717443039
+            ],
+            "target_position": [
+              0.2741259506025858,
+              0.20381410526280674,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04881690028068006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16440668273646558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318587717443039,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673651634998,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13435620685064634,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc1c2fab4b6e9f20b73da95ce96a780e63b0ba7af77f01e5358a345c3341bd26",
+    "visual_seed": 6927905700295269151,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f18b48f965f1d856811eb1d26b2c0cba034c9cbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              },
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005948462719461253,
+              "rod_tip_xy_max_step": 3.2282981362104176e-05,
+              "rod_tip_xy_range": 0.000594842002984917,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26317731276884854,
+            -0.3399958190686545,
+            1.043455507428682
+          ],
+          "object_origin_world": [
+            0.26317731276884854,
+            -0.3399958190686545,
+            1.043455507428682
+          ],
+          "frame_world": [
+            0.2631760225445474,
+            -0.3399989720647669,
+            1.0433500178066835
+          ],
+          "center_minus_frame": [
+            1.2902243011203574e-06,
+            3.152996112421036e-06,
+            0.00010548962199852241
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2623824766261097,
+              0.15464349057371302,
+              0.8319772308490342
+            ],
+            "target_position": [
+              0.2768634195788491,
+              0.20069331641280008,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827301698268654,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16825765325273823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319772308490342,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672178861283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380529688720827,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8051c068d7730d31957dce2a1e502cc434eb1f83a355568e7d0170917b00ec6",
+    "visual_seed": 6934309362484809729,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..164f8a7f7016860dc93979dc2781f51f5c9d52f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_53_success.json
@@ -0,0 +1,2014 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+                  "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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+        "post_done_wait_exhausted": false
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "max_placed_release_frames": 147
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+          "failure_messages": {},
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+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
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+                "/World/heat_device/heat_device/heat_device/plat"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            "source_missing": false,
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+              "forbidden": [],
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+        "attach_allowed": false,
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+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
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+                "Robotiq_2F_85",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+      "skill": "pick",
+      "target": "glass_rod",
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+        "checker": {
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+          "skill": "pick",
+          "target": "glass_rod",
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+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9373b9fe55e6c30b09d22e36e64a1280cbc20a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_54_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              1.1653215326465678
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+              0.0046068246522694145,
+              0.00879807695861401
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+              -0.10218798117017343,
+              1.1653215326465678
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+              -0.0784640681751808,
+              1.1653215326465678
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+              -0.09032602467267711,
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+              0.011861956497496315,
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+              0.0,
+              1.0
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+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3394291875605907,
+              0.8515395629074736
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+              -0.3389414519051838,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "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",
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
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+            "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": 0.007257840163619175,
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+            "closest_active_finger_index": 1,
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+            "min_contact_pad_to_button": 0.02111820304322591,
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+              -0.3957356600447958,
+              0.7906624996565905
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+              -0.39520207047462463,
+              0.7695510387420654
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f661e4af2e1d28919b4348a31e3e951ab552aadff5983a6b0cf6185f67778ba",
+    "visual_seed": 6829903015892457319,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
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+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d158224398c44ae11bf8c41b5ca9f9d10271908d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_55_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.1632907168502773
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+              0.004621049719855719,
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+              1.1632907168502773
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+              -0.09014621315784774,
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+              0.011972351211467072,
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+              0.0,
+              1.0
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+            "stable_success_frames": 338,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "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",
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+            },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.8515395668055518
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+              -0.34346607218849234,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "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": 0.007351306189074534,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021091142097197944,
+            "closest_contact_pad": [
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+              -0.39988364220452793,
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+            "closest_contact_pad_button": [
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+              0.7694575786590576
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+            "closest_contact_pad_minus_button": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
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+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d62a0fafbf2b12b2fe71727d39c53a3cf991f8bdc6124afb89ab188d8813d26",
+    "visual_seed": 6256743873244505283,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a0d2b179d66d5de9e902ff9db0331d419cef0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32058523672337746,
+              -0.07857531452207697,
+              1.1665759820342128
+            ],
+            "current_z": 1.1665759820342128,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.305469414414802,
+            "gripper_z": 1.157740061145084,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31607453879470127,
+              -0.08312027580999895,
+              1.157740061145084
+            ],
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+              0.0045106979286761995,
+              0.004544961287921978,
+              0.008835920889128657
+            ],
+            "object_to_gripper_xy": 0.0064033638747515486,
+            "object_to_gripper_z": 0.008835920889128657,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32058523672337746,
+              -0.10233116553327519,
+              1.1665759820342128
+            ],
+            "finger_b": [
+              0.3101197579489224,
+              -0.07857531452207697,
+              1.1665759820342128
+            ],
+            "finger_midpoint": [
+              0.3153524973361499,
+              -0.09045324002767607,
+              1.1665759820342128
+            ],
+            "object_minus_finger_midpoint": [
+              0.00523273938722757,
+              0.011877925505599102,
+              0.0
+            ],
+            "finger_gap": 0.02595894264496952,
+            "fingertip_max_gap": 0.09164721667599282,
+            "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": 1.1665759820342128,
+            "object_top_z": 1.21641889389281,
+            "finger_top_clearance": 0.04984291185859724,
+            "fingertip_min_top_clearance": 0.01495287355757917,
+            "object_projection_between_fingers": 0.8374660070735402,
+            "object_to_finger_line_xy": 0.009577291260551023,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832360833799641,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4885544492573888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26872963010186673,
+              -0.3424790846625567,
+              0.8515395790978991
+            ],
+            "target_position": [
+              0.26116029741597757,
+              -0.3427902664178296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007575726459850882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18394393679912352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395790978991,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537828158441656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622418851427356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15215738976094675,
+            "release_required_pad_clearance": 0.05311209425713678,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 1.2511513101477325,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007195830345153809,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510288573754409,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007195830345153809,
+            "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": 0.02110596805457828,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007195830345153809,
+            "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": 0.0071958498699148275,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3990517258644104,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.1451481215600412,
+            "closest_active_finger": [
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+              -0.46210911870002747,
+              0.8107928037643433
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+            "closest_active_finger_button": [
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+              -0.39905065298080444,
+              0.7763561606407166
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12611790001392365,
+              -0.06305846571922302,
+              0.03443664312362671
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+            "min_contact_pad_to_button": 0.02110596805457828,
+            "closest_contact_pad": [
+              0.11684349179267882,
+              -0.39968339324354246,
+              0.7907095116497375
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+            "closest_contact_pad_button": [
+              0.11684349179267882,
+              -0.3990507423877716,
+              0.7696130275726318
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006326508557708554,
+              0.021096484077105626
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "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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+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e3f27818de667c55b59bf7d682fbca126f71324845ea18b5023ae8fc309d3fa",
+    "visual_seed": 3256890621878682462,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45015589e83539282fc9357823be0334aedfc11b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3216347199595509,
+              -0.07221201321358255,
+              1.16502149845843
+            ],
+            "current_z": 1.16502149845843,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30391499044366377,
+            "gripper_z": 1.1562159823443028,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31711110118206143,
+              -0.07673444568176327,
+              1.1562159823443028
+            ],
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+              0.004523618777489469,
+              0.004522432468180723,
+              0.008805516114127165
+            ],
+            "object_to_gripper_xy": 0.0063965242337781,
+            "object_to_gripper_z": 0.008805516114127165,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3216347199595509,
+              -0.09599490854060728,
+              1.16502149845843
+            ],
+            "finger_b": [
+              0.3112371535685928,
+              -0.07221201321358255,
+              1.16502149845843
+            ],
+            "finger_midpoint": [
+              0.31643593676407183,
+              -0.08410346087709492,
+              1.16502149845843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005198783195479062,
+              0.01189144766351237,
+              0.0
+            ],
+            "finger_gap": 0.025956415333990113,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2148777938894386,
+            "finger_top_clearance": 0.04985629543100867,
+            "fingertip_min_top_clearance": 0.014956888629302632,
+            "object_projection_between_fingers": 0.8395373446444805,
+            "object_to_finger_line_xy": 0.009526902307196739,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863488132244688,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0022018900154492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26633681954307886,
+              -0.34192230659871775,
+              0.8515395735725028
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+            "target_position": [
+              0.26007002463760653,
+              -0.34133764238724973,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062940091060805945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18410763785747308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395735725028,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564606708001534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08887928880693376,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15151206907247594,
+            "release_required_pad_clearance": 0.05443964440346688,
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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": 3.9070888985633303,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007080435752868652,
+            "max_z_decrease": 0.007080435752868652,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035102349559050436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007080435752868652,
+            "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": 0.02120166173123524,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007080435752868652,
+            "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": 0.00708045890752176,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.39759910106658936,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+              0.1157519519329071,
+              -0.3975971341133117,
+              0.769728422164917
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+            "min_active_finger_to_button": 0.14615354614866896,
+            "closest_active_finger": [
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+              -0.38414266705513,
+              0.8109934329986572
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+            "closest_active_finger_button": [
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+              -0.39759820699691767,
+              0.7764526605606079
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14137447625398636,
+              0.013455539941787664,
+              0.034540772438049316
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+            "min_contact_pad_to_button": 0.02120166173123524,
+            "closest_contact_pad": [
+              0.1157519519329071,
+              -0.3999877471134354,
+              0.7907948748717532
+            ],
+            "closest_contact_pad_button": [
+              0.1157519519329071,
+              -0.3975971341133117,
+              0.769728422164917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023906130001236647,
+              0.02106645270683616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f159170ca8a494217d4beea06f58547d03e1b11bc79eb50e617e7f4bb908949",
+    "visual_seed": 2928893165883353162,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a699d5d32d347b0e3be14066e1a9fcc761e651de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_58_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31668027408596583,
+              -0.07510823611311053,
+              1.1669647163330525
+            ],
+            "current_z": 1.1669647163330525,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3058582083182868,
+            "gripper_z": 1.1583434621204793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.312232688157534,
+              -0.07972229845592751,
+              1.1583434621204793
+            ],
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+              0.0044475859284318076,
+              0.004614062342816985,
+              0.008621254212573204
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+            "object_to_gripper_xy": 0.0064086341676043886,
+            "object_to_gripper_z": 0.008621254212573204,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31668027408596583,
+              -0.09869051564402308,
+              1.1669647163330525
+            ],
+            "finger_b": [
+              0.30594452267122363,
+              -0.07510823611311053,
+              1.1669647163330525
+            ],
+            "finger_midpoint": [
+              0.3113123983785947,
+              -0.0868993758785668,
+              1.1669647163330525
+            ],
+            "object_minus_finger_midpoint": [
+              0.005367875707371128,
+              0.011791139765456274,
+              0.0
+            ],
+            "finger_gap": 0.025911006663447797,
+            "fingertip_max_gap": 0.09227200401783073,
+            "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": 1.1669647163330525,
+            "object_top_z": 1.2169095896359776,
+            "finger_top_clearance": 0.049944873302925075,
+            "fingertip_min_top_clearance": 0.014983461990877555,
+            "object_projection_between_fingers": 0.828329243169376,
+            "object_to_finger_line_xy": 0.009770885945314821,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048636002008915366,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8544028997483728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2691907158830386,
+              -0.33859826649536,
+              0.8515395869950515
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+            "target_position": [
+              0.2619671545784766,
+              -0.33874025419596554,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007224956638478128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476834625635802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395869950515,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557737555652401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681083679777397,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525251803803904,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8255767686699762,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007061481475830078,
+            "max_z_decrease": 0.007061481475830078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035095184003085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007061481475830078,
+            "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": 0.021171611681325347,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007061481475830078,
+            "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": 0.007061499587465058,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.39500170946121216,
+              0.7768088579177856
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+            "button_final": [
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+              -0.39500170946121216,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.39500027894973755,
+              0.7697473764419556
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+            "min_active_finger_to_button": 0.14652739450771704,
+            "closest_active_finger": [
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+              -0.38253602385520935,
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+            "closest_active_finger_button": [
+              0.11766795068979265,
+              -0.39500123262405396,
+              0.7764509320259094
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14184833317995071,
+              0.012465208768844604,
+              0.03455352783203125
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+            "min_contact_pad_to_button": 0.021171611681325347,
+            "closest_contact_pad": [
+              0.11765114963054657,
+              -0.3971814002631524,
+              0.7908063377411507
+            ],
+            "closest_contact_pad_button": [
+              0.11765114963054657,
+              -0.39500027894973755,
+              0.7697473764419556
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021811213134148577,
+              0.021058961299195156
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c2c425f0bc1ca5245de5b2127d9b0b564fa4c746131e69027c34f0eb3e94fa8",
+    "visual_seed": 1152716618911484797,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3625e6b7b1e4cbfe753de33731f2c84e51d6e7c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_60_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.08049869924167721,
+              1.1651241909106929
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+            "current_z": 1.1651241909106929,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3040176232912821,
+            "gripper_z": 1.1563353735464963,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.08512759434886298,
+              1.1563353735464963
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+              0.004602546967817922,
+              0.004628895107185768,
+              0.008788817364196566
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+            "object_to_gripper_z": 0.008788817364196566,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3188928314466726,
+              -0.1043017443486818,
+              1.1651241909106929
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+              0.3082758196555261,
+              -0.08049869924167721,
+              1.1651241909106929
+            ],
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+              0.31358432555109933,
+              -0.09240022179517951,
+              1.1651241909106929
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011901522553502297,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2150563205685778,
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+            "object_to_finger_line_xy": 0.009696212556209722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832934749659652,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3615712184299755,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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": {
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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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.260666336574098,
+              -0.3434325109113212,
+              0.8515395498435379
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+            "target_position": [
+              0.25392903937269307,
+              -0.34333807813656086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18335362775505634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395498435379,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758441793222004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08753603568084091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15055146938731442,
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+            "virtual_attach_allowed": false,
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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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035092088415408514,
+            "contact_distance_threshold": 0.08,
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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": 0.021159195349895174,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007286787033081055,
+            "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": 0.007286809329100746,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "min_active_finger_to_button": 0.14777953664399432,
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+              -0.39959990978240967,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.01436343789100647,
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+            "min_contact_pad_to_button": 0.021159195349895174,
+            "closest_contact_pad": [
+              0.10961116105318068,
+              -0.40149730647965587,
+              0.7905957350757831
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+            "closest_contact_pad_button": [
+              0.10961116105318068,
+              -0.3995967209339142,
+              0.7695220708847046
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019005855457416843,
+              0.02107366419107848
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "575b7918a09f46e335c11f75d31f72c467cd57a6c9aa52e1acb96c220776a675",
+    "visual_seed": 3494725483605439048,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da904f8381078549feeb5cdaf28f1a658fe05bef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.32232632218448115,
+              -0.07271850873980748,
+              1.1666151365885655
+            ],
+            "current_z": 1.1666151365885655,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3055086881784441,
+            "gripper_z": 1.157778808440233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31772673790897243,
+              -0.07736367509566838,
+              1.157778808440233
+            ],
+            "object_minus_gripper": [
+              0.004599584275508717,
+              0.004645166355860902,
+              0.008836328148332573
+            ],
+            "object_to_gripper_xy": 0.006537105321251073,
+            "object_to_gripper_z": 0.008836328148332573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32232632218448115,
+              -0.09656260093445108,
+              1.1666151365885655
+            ],
+            "finger_b": [
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+              -0.07271850873980748,
+              1.1666151365885655
+            ],
+            "finger_midpoint": [
+              0.3170346369001932,
+              -0.08464055483712929,
+              1.1666151365885655
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052916852842879725,
+              0.011922046097321809,
+              0.0
+            ],
+            "finger_gap": 0.02608732384087073,
+            "fingertip_max_gap": 0.09164285312767959,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013043661920435382,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666151365885655,
+            "object_top_z": 1.2165924309165415,
+            "finger_top_clearance": 0.04997729432797593,
+            "fingertip_min_top_clearance": 0.014993188298392746,
+            "object_projection_between_fingers": 0.8354154945270118,
+            "object_to_finger_line_xy": 0.009673313564339097,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048321426563839795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2863033177693366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2618917614460889,
+              -0.34041623664458565,
+              0.8515395764242651
+            ],
+            "target_position": [
+              0.2544351551135825,
+              -0.34059542168715107,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074587589636248165,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18596352956748505,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395764242651,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537210081659154,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646604688850686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540502893180618,
+            "release_required_pad_clearance": 0.05323302344425343,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4872425665353748,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "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": 0.03510746227123956,
+            "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": 77,
+            "contact_point_distance": 0.021119494698944856,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007322631721690701,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.39685687422752375,
+              0.7768088579177856
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+            "button_final": [
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+              -0.39685687422752375,
+              0.7768088579177856
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+            "closest_ee": [
+              0.11162797167761285,
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+              0.8074394047366855
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+            "closest_button": [
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+              0.03506912590138889
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+            "button_min_z_position": [
+              0.11011705547571182,
+              -0.3968555629253387,
+              0.7694862484931946
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+            "min_active_finger_to_button": 0.14464167967847202,
+            "closest_active_finger": [
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+              -0.46132755279541016,
+              0.8111333847045898
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+            "closest_active_finger_button": [
+              0.11013896018266678,
+              -0.39685565233230585,
+              0.7765967845916748
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12478706985712051,
+              -0.0644719004631043,
+              0.03453660011291504
+            ],
+            "min_contact_pad_to_button": 0.021119494698944856,
+            "closest_contact_pad": [
+              0.11011705547571182,
+              -0.3970970139674524,
+              0.7906043629386895
+            ],
+            "closest_contact_pad_button": [
+              0.11011705547571182,
+              -0.3968555629253387,
+              0.7694862484931946
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00024145104211370505,
+              0.02111811444549494
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "217b425fbf5ed34d72aa0df9b0d4dc7affabca68dd03492808cdd2fe441a6175",
+    "visual_seed": 6116173523160604744,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..981153e2a41f91c33c5edb279995230ce41932be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31816948675081996,
+              -0.07237405306728352,
+              1.1670687134041597
+            ],
+            "current_z": 1.1670687134041597,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3059622053893938,
+            "gripper_z": 1.158463091165987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31369045013835883,
+              -0.07703797633826566,
+              1.158463091165987
+            ],
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+              0.004479036612461129,
+              0.00466392327098214,
+              0.008605622238172739
+            ],
+            "object_to_gripper_xy": 0.00646637063996304,
+            "object_to_gripper_z": 0.008605622238172739,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31816948675081996,
+              -0.09587255943943208,
+              1.1670687134041597
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+            "finger_b": [
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+              -0.07237405306728352,
+              1.1670687134041597
+            ],
+            "finger_midpoint": [
+              0.3126952857450016,
+              -0.0841233062533578,
+              1.1670687134041597
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474201005818358,
+              0.011749253186074282,
+              0.0
+            ],
+            "finger_gap": 0.025923875256803647,
+            "fingertip_max_gap": 0.09191064351166287,
+            "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": 1.1670687134041597,
+            "object_top_z": 1.216910704485386,
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+            "fingertip_min_top_clearance": 0.014952597324367899,
+            "object_projection_between_fingers": 0.8216382907533442,
+            "object_to_finger_line_xy": 0.009924098611289548,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048455321755831435,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7060637102558704,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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",
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+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3432117087764308,
+              0.8515396019942313
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+            "target_position": [
+              0.26034535790742813,
+              -0.3439356228352172,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008808200512094215,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18625191406033964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396019942313,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754818372823301,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594547877057478,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15407207905010795,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.9803771643285237,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007109463214874268,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509204655188691,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007109463214874268,
+            "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": 0.02106604324673879,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007109463214874268,
+            "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": 0.007109483509646052,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.40019708871841425,
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+            "button_final": [
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.14694645934753642,
+            "closest_active_finger": [
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+            "closest_active_finger_button": [
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+              -0.4001968502998352,
+              0.7763741612434387
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.062332868576049805,
+              0.03443646430969238
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+            "min_contact_pad_to_button": 0.02106604324673879,
+            "closest_contact_pad": [
+              0.11602845788002014,
+              -0.40091788904007486,
+              0.7907530220708002
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+            "closest_contact_pad_button": [
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+              -0.4001947343349456,
+              0.7696993947029114
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007231547051292364,
+              0.02105362736788885
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b5afa9322137d028b9425dedea0d4520cc4531375436d8afa3c0f9cdf1ff59c",
+    "visual_seed": 2811565395858124562,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b4db8bbcd6f25f9ddb8ecfcd5813268acf7164
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_63_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.08014291045074079,
+              1.1654944497903423
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+            "current_z": 1.1654944497903423,
+            "required_z": 0.8611065080147661,
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+            "lift_margin": 0.30438794177557627,
+            "gripper_z": 1.1564045724749228,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31897288763656406,
+              -0.08468375474324584,
+              1.1564045724749228
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+              0.004489093509217945,
+              0.00454084429250505,
+              0.009089877315419548
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+            "object_to_gripper_xy": 0.006385235111041596,
+            "object_to_gripper_z": 0.009089877315419548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.323461981145782,
+              -0.10388741426499407,
+              1.1654944497903423
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+            "finger_b": [
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+              -0.08014291045074079,
+              1.1654944497903423
+            ],
+            "finger_midpoint": [
+              0.31824302113449066,
+              -0.09201516235786743,
+              1.1654944497903423
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+              0.0052189600112913515,
+              0.011872251907126638,
+              0.0
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+            "finger_gap": 0.025937456231923,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2153569460334899,
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+            "object_projection_between_fingers": 0.8380529030285582,
+            "object_to_finger_line_xy": 0.009555417831762846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825172031727702,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3571448476074806,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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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
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2683768514463265,
+              -0.3455461008034145,
+              0.8515395881142813
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+              0.2608578251699141,
+              -0.3457690697004122,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007522331505218854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18375050666484413,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395881142813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540001335585794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607974255201477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.053039871276007386,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.110637891270347,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "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
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "min_ee_to_button": 0.035086532592234695,
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+            "ee_contact_ok": true,
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021138711001538815,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007310390472412109,
+            "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": 0.007310412202794403,
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+            "button_start": [
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021138711001538815,
+            "closest_contact_pad": [
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+              -0.40367448867165934,
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+            "closest_contact_pad_button": [
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+              0.7694984674453735
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+            "closest_contact_pad_minus_button": [
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+              -0.0016454511960734552,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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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": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "127f997a62cc78b3e751ed800c2c60cc9203e0e991505c851213ce47aea8eb28",
+    "visual_seed": 2235095812120268813,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff67e26969036c0c1920326415e77d20c66bdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_64_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.07946949651391386,
+              1.1650697261557839
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+            "lift_margin": 0.30396333735030745,
+            "gripper_z": 1.1562797724300455,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.08414859282996352,
+              1.1562797724300455
+            ],
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+              0.004471039954623779,
+              0.004679096316049666,
+              0.00878995372573832
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+            "fingertip_source": "active_contact_pad_positions",
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+              1.1650697261557839
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+              -0.07946949651391386,
+              1.1650697261557839
+            ],
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+              0.31380130817086543,
+              -0.09123387154796246,
+              1.1650697261557839
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+            "object_minus_finger_midpoint": [
+              0.005464331294762537,
+              0.011764375034048605,
+              0.0
+            ],
+            "finger_gap": 0.025942971028058242,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8225423956566604,
+            "object_to_finger_line_xy": 0.009911654697119932,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823545002192793,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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",
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+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.34353724573911426,
+              0.8515395676067492
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+              0.25625634846839385,
+              -0.3439210623734327,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857450368797595,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
+            "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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+            "object_tilt_deg": 1.4622982974181917,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "min_ee_to_button": 0.035093161390670036,
+            "contact_distance_threshold": 0.08,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
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+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
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+            "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": 0.007360121162912528,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_active_finger_index": 1,
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+            "min_contact_pad_to_button": 0.021104761623406243,
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+              -0.4001800417900085,
+              0.7905535187950371
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+            "closest_contact_pad_button": [
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+              0.7694487571716309
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              0.0,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aabf34f9fc4f9bea9f38e05c39b3f366992f307ec20d73c963fa2fb38130a395",
+    "visual_seed": 7131675334795655025,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec06dad7de3b63eeee6cde5df53feea8fa44926
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_66_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3164941390530931,
+              -0.07793059956407661,
+              1.1629513793512418
+            ],
+            "current_z": 1.1629513793512418,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3018449905457654,
+            "gripper_z": 1.1543392030924482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31209446496217497,
+              -0.082449100923889,
+              1.1543392030924482
+            ],
+            "object_minus_gripper": [
+              0.0043996740909181264,
+              0.004518501359812396,
+              0.008612176258793625
+            ],
+            "object_to_gripper_xy": 0.006306662084250489,
+            "object_to_gripper_z": 0.008612176258793625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3164941390530931,
+              -0.10157779414114651,
+              1.1629513793512418
+            ],
+            "finger_b": [
+              0.30604296278316634,
+              -0.07793059956407661,
+              1.1629513793512418
+            ],
+            "finger_midpoint": [
+              0.3112685509181297,
+              -0.08975419685261156,
+              1.1629513793512418
+            ],
+            "object_minus_finger_midpoint": [
+              0.005225588134963377,
+              0.011823597288534951,
+              0.0
+            ],
+            "finger_gap": 0.025853759819238754,
+            "fingertip_max_gap": 0.09239507073688433,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012926879909619377,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629513793512418,
+            "object_top_z": 1.2128616925335336,
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+            "fingertip_min_top_clearance": 0.014973093954687532,
+            "object_projection_between_fingers": 0.8365883837624588,
+            "object_to_finger_line_xy": 0.009559189864149128,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048697535368442166,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0375392384843574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "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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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2621997494977315,
+              -0.34120607868268316,
+              0.8515395591154127
+            ],
+            "target_position": [
+              0.25550026632712947,
+              -0.34074953772258726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006715020804243664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852680697332939,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395591154127,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555521623203244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723693782446927,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281117142323958,
+            "release_required_pad_clearance": 0.05361846891223464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.247226350492657,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071732401847839355,
+            "max_z_decrease": 0.0071732401847839355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509846671215874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071732401847839355,
+            "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": 0.021093932032358056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0071732401847839355,
+            "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": 0.00717326488463926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11120019108057018,
+              -0.39701098203659047,
+              0.7768088579177856
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+            "button_final": [
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+              -0.39701098203659047,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.3970088958740233,
+              0.7696356177330017
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+            "min_active_finger_to_button": 0.14683535850281385,
+            "closest_active_finger": [
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+              -0.45987826585769653,
+              0.8106840252876282
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+            "closest_active_finger_button": [
+              0.11120219528675075,
+              -0.3970119059085845,
+              0.7761525511741638
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281250193715095,
+              -0.06286635994911205,
+              0.034531474113464355
+            ],
+            "min_contact_pad_to_button": 0.021093932032358056,
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12f6dcd220fae5c47b4f618185b2600b3f0516c2da5c3504a31745f6434bbbc9",
+    "visual_seed": 7845825764702931915,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a71e64a46076eafddde973845999442c9200094
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.32314494318951703,
+              -0.07639504082547573,
+              1.1641967886709002
+            ],
+            "current_z": 1.1641967886709002,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30309022105148953,
+            "gripper_z": 1.1552921208868956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31867811817889863,
+              -0.08087823922721706,
+              1.1552921208868956
+            ],
+            "object_minus_gripper": [
+              0.004466825010618403,
+              0.0044831984017413284,
+              0.00890466778400456
+            ],
+            "object_to_gripper_xy": 0.006328632836945283,
+            "object_to_gripper_z": 0.00890466778400456,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32314494318951703,
+              -0.10019349456918723,
+              1.1641967886709002
+            ],
+            "finger_b": [
+              0.3128678986711373,
+              -0.07639504082547573,
+              1.1641967886709002
+            ],
+            "finger_midpoint": [
+              0.31800642093032716,
+              -0.08829426769733148,
+              1.1641967886709002
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051385222591898705,
+              0.011899226871855753,
+              0.0
+            ],
+            "finger_gap": 0.025922655045815337,
+            "fingertip_max_gap": 0.09220933250125066,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012961327522907668,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641967886709002,
+            "object_top_z": 1.2140899239484724,
+            "finger_top_clearance": 0.04989313527757222,
+            "fingertip_min_top_clearance": 0.014967940583271699,
+            "object_projection_between_fingers": 0.8428271550825237,
+            "object_to_finger_line_xy": 0.00943490426271771,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860466625062533,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0563482755355627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26274235002705976,
+              -0.34401431982461306,
+              0.8515395658130486
+            ],
+            "target_position": [
+              0.25562884145788534,
+              -0.34400088828681186,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007113521249699449,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18381378723891162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395658130486,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531969115066943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772138130839931,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217712995414304,
+            "release_required_pad_clearance": 0.053860690654199656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7308876384493064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00718080997467041,
+            "max_z_decrease": 0.00718080997467041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511335023490664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00718080997467041,
+            "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": 0.021091077970524886,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00718080997467041,
+            "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": 0.0071808286792218335,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4002623558044433,
+              0.7768088579177856
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+            "button_final": [
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+              0.7768088579177856
+            ],
+            "closest_ee": [
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+            "closest_button": [
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+            "min_active_finger_to_button": 0.1473447998763921,
+            "closest_active_finger": [
+              -0.018077805638313293,
+              -0.4617012143135071,
+              0.811164915561676
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+            "closest_active_finger_button": [
+              0.11133263260126114,
+              -0.4002639353275299,
+              0.7766846418380737
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12941043823957443,
+              -0.06143727898597717,
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a7603d17a37a6e14aeef0e6679736316e48be2f73ceffb7f6846ee865bec8ff",
+    "visual_seed": 3328633996813964006,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07436847b72da945e957084973cb326ebb4f7faf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_73_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32335081725203085,
+              -0.07410738705642453,
+              1.1653294559055194
+            ],
+            "current_z": 1.1653294559055194,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3042230074953983,
+            "gripper_z": 1.1565378421856847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3186187034794776,
+              -0.07880184009473565,
+              1.1565378421856847
+            ],
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+              0.004732113772553226,
+              0.004694453038311119,
+              0.008791613719834723
+            ],
+            "object_to_gripper_xy": 0.006665642511063463,
+            "object_to_gripper_z": 0.008791613719834723,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32335081725203085,
+              -0.09808281531859421,
+              1.1653294559055194
+            ],
+            "finger_b": [
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+              -0.07410738705642453,
+              1.1653294559055194
+            ],
+            "finger_midpoint": [
+              0.31805438327243585,
+              -0.08609510118750938,
+              1.1653294559055194
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052964339795950055,
+              0.011987714131084848,
+              0.0
+            ],
+            "finger_gap": 0.026211257351666246,
+            "fingertip_max_gap": 0.09153093171177848,
+            "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": 1.1653294559055194,
+            "object_top_z": 1.215239118168561,
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+            "fingertip_min_top_clearance": 0.014972898678912449,
+            "object_projection_between_fingers": 0.8366754731987789,
+            "object_to_finger_line_xy": 0.009689292750774854,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826546585588924,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2336693730158441,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": [],
+              "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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26762727541548514,
+              -0.3413297157341574,
+              0.8515396359658097
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+            "target_position": [
+              0.2604216684284077,
+              -0.34123916024465567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072061759865339305,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411120637175693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396359658097,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546122215751211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634079374622157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519370212364984,
+            "release_required_pad_clearance": 0.05317039687311079,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.36484623369499,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007121562957763672,
+            "max_z_decrease": 0.007121562957763672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514627399830816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007121562957763672,
+            "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": 0.021106359286365173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007121562957763672,
+            "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": 0.007121583948190846,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.397500604391098,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.14427887079442542,
+            "closest_active_finger": [
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+              -0.4606781005859375,
+              0.8108905553817749
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+            "closest_active_finger_button": [
+              0.11612264811992645,
+              -0.3974992036819458,
+              0.7764111161231995
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+            "closest_active_finger_index": 1,
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+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b307e9987c4d59608414117cd30a91243ae3840d58c93beafd3a60f5a83c9a8",
+    "visual_seed": 9160501312168997204,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b727738e7fd617a6dd1b5e044b26a07211a153d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_74_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3166924579375995,
+              -0.07489645205152405,
+              1.1654017804486023
+            ],
+            "current_z": 1.1654017804486023,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30429527243383625,
+            "gripper_z": 1.1565614341551762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31221007631410536,
+              -0.07937266994594268,
+              1.1565614341551762
+            ],
+            "object_minus_gripper": [
+              0.004482381623494125,
+              0.004476217894418627,
+              0.008840346293426116
+            ],
+            "object_to_gripper_xy": 0.006334687968396814,
+            "object_to_gripper_z": 0.008840346293426116,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3166924579375995,
+              -0.09876754557708012,
+              1.1654017804486023
+            ],
+            "finger_b": [
+              0.3065243088131915,
+              -0.07489645205152405,
+              1.1654017804486023
+            ],
+            "finger_midpoint": [
+              0.3116083833753955,
+              -0.08683199881430209,
+              1.1654017804486023
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050840745622039996,
+              0.01193554676277804,
+              0.0
+            ],
+            "finger_gap": 0.025946490373883784,
+            "fingertip_max_gap": 0.09189348414906026,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012973245186941899,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654017804486023,
+            "object_top_z": 1.2152282676664612,
+            "finger_top_clearance": 0.04982648721785887,
+            "fingertip_min_top_clearance": 0.014947946165357627,
+            "object_projection_between_fingers": 0.8464228619019256,
+            "object_to_finger_line_xy": 0.009354823532313157,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844674207453013,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.697699953724913,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2610325631310643,
+              -0.3468235939818002,
+              0.8515395994988618
+            ],
+            "target_position": [
+              0.25465801845766556,
+              -0.34607792760037925,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006418008892603525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822353516908836,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395994988618,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529517524353409,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772804311700542,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042857025930184,
+            "release_required_pad_clearance": 0.053864021558502714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7374722057990706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007456004619598389,
+            "max_z_decrease": 0.007456004619598389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507502771486545,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007456004619598389,
+            "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": 0.021140295737598673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007456004619598389,
+            "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": 0.0074560270940770045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11035794764757156,
+              -0.4023393988609314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11035794764757156,
+              -0.4023393988609314,
+              0.7768088579177856
+            ],
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675064381047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13621045118646022,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d6b1d73a94d4d0705978c7571219f71a1690a2cf5c99786b0fee953daf10217",
+    "visual_seed": 8794753639034987759,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d7dbc2615ff8fa1048c398e4bf72a17be449b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_75_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3200863171471787,
+              -0.07573973076781682,
+              1.1672622849253194
+            ],
+            "current_z": 1.1672622849253194,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3061557769105532,
+            "gripper_z": 1.158444159788503,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31569513134918725,
+              -0.08025824703300252,
+              1.158444159788503
+            ],
+            "object_minus_gripper": [
+              0.00439118579799147,
+              0.004518516265185707,
+              0.008818125136816457
+            ],
+            "object_to_gripper_xy": 0.006300754077983823,
+            "object_to_gripper_z": 0.008818125136816457,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3200863171471787,
+              -0.09934043248524503,
+              1.1672622849253194
+            ],
+            "finger_b": [
+              0.3095629256520416,
+              -0.07573973076781682,
+              1.1672622849253194
+            ],
+            "finger_midpoint": [
+              0.31482462139961015,
+              -0.08754008162653093,
+              1.1672622849253194
+            ],
+            "object_minus_finger_midpoint": [
+              0.005261695747568573,
+              0.011800350858714115,
+              0.0
+            ],
+            "finger_gap": 0.02584056675297475,
+            "fingertip_max_gap": 0.09227506920215586,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01292028337648738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1672622849253194,
+            "object_top_z": 1.2171373181600669,
+            "finger_top_clearance": 0.04987503323474751,
+            "fingertip_min_top_clearance": 0.014962509970424287,
+            "object_projection_between_fingers": 0.8341530894980466,
+            "object_to_finger_line_xy": 0.009611222002468714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048637534601077934,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.003103030410491,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26902047851380884,
+              -0.34673443201008985,
+              0.8515395656943844
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+            "target_position": [
+              0.26195308998258193,
+              -0.3466311645444979,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00706814295418304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18208963472264386,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395656943844,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515279521015376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633215848302432,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15092170514341266,
+            "release_required_pad_clearance": 0.05316607924151216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3562168728028656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007352948188781738,
+            "max_z_decrease": 0.007352948188781738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511164608828004,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007352948188781738,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
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+              0.20163954797646233,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048773362077634615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16909556728065184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326164971624549,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672160431454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13862202414819444,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 304,
+            "max_placed_release_frames": 304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40b340bb6b3b1b5febc9db9f7bb1096ae31c4af6f781c9c43f9ca09544da38a1",
+    "visual_seed": 7946382383106434799,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8013863d37bbb998b9290feee1704327cd5b0c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_77_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3163515523754956,
+              -0.08133460238421229,
+              1.1644552580557521
+            ],
+            "current_z": 1.1644552580557521,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3033488096456307,
+            "gripper_z": 1.1557446159775695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31172793945418986,
+              -0.08587533260069877,
+              1.1557446159775695
+            ],
+            "object_minus_gripper": [
+              0.004623612921305753,
+              0.004540730216486474,
+              0.008710642078182618
+            ],
+            "object_to_gripper_xy": 0.006480434194170852,
+            "object_to_gripper_z": 0.008710642078182618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3163515523754956,
+              -0.10522537307820135,
+              1.1644552580557521
+            ],
+            "finger_b": [
+              0.30597842962261096,
+              -0.08133460238421229,
+              1.1644552580557521
+            ],
+            "finger_midpoint": [
+              0.31116499099905326,
+              -0.09327998773120683,
+              1.1644552580557521
+            ],
+            "object_minus_finger_midpoint": [
+              0.005186561376442356,
+              0.011945385346994533,
+              0.0
+            ],
+            "finger_gap": 0.026045548563990346,
+            "fingertip_max_gap": 0.09183027592368306,
+            "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": 1.1644552580557521,
+            "object_top_z": 1.2142958385397509,
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+            "fingertip_min_top_clearance": 0.014952174145199592,
+            "object_projection_between_fingers": 0.8413821653731108,
+            "object_to_finger_line_xy": 0.00951494250393317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048415137961841534,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5603758281754394,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.266166484961321,
+              -0.34331612482359564,
+              0.8515395532583496
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+            "target_position": [
+              0.25955774370810764,
+              -0.3429044943608761,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006621548201875669,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18584594238008892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395532583496,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547558198150561,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720553868712154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536086623760231,
+            "release_required_pad_clearance": 0.05360276934356077,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2160099417941193,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
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+              0.15389401082849355,
+              0.8325528426583908
+            ],
+            "target_position": [
+              0.2816578384339671,
+              0.20026527989862591,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048119948418890786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16951879172923906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325528426583908,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672169525256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13801677821318814,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f491615053aa3570262b7bdacbcce63df997741036cd015ddf8586f4698a0c8",
+    "visual_seed": 2849878273729113357,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70a3affa4f7765886c3ef7a65eef5a1b70fa8968
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_78_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31789044565222335,
+              -0.0726762139790232,
+              1.1645825624178885
+            ],
+            "current_z": 1.1645825624178885,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30347605440312253,
+            "gripper_z": 1.1557967828086193,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.313466646064946,
+              -0.07704632491345996,
+              1.1557967828086193
+            ],
+            "object_minus_gripper": [
+              0.004423799587277344,
+              0.004370110934436761,
+              0.008785779609269184
+            ],
+            "object_to_gripper_xy": 0.006218349649841101,
+            "object_to_gripper_z": 0.008785779609269184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31789044565222335,
+              -0.09653934989118587,
+              1.1645825624178885
+            ],
+            "finger_b": [
+              0.3079099053260848,
+              -0.0726762139790232,
+              1.1645825624178885
+            ],
+            "finger_midpoint": [
+              0.31290017548915405,
+              -0.08460778193510454,
+              1.1645825624178885
+            ],
+            "object_minus_finger_midpoint": [
+              0.004990270163069299,
+              0.011931567956081343,
+              0.0
+            ],
+            "finger_gap": 0.025866202673837255,
+            "fingertip_max_gap": 0.09224608066185105,
+            "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": 1.1645825624178885,
+            "object_top_z": 1.2143890966448583,
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+            "fingertip_min_top_clearance": 0.014941960268090936,
+            "object_projection_between_fingers": 0.8511178077007095,
+            "object_to_finger_line_xy": 0.009207651903244452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862304033092553,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1567117479445437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2642605912672424,
+              -0.34539724336812877,
+              0.8515395643201304
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+            "target_position": [
+              0.2579847445712947,
+              -0.34483660593229926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063008385224103845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18488446642133313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395643201304,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556567461074601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843003015104046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15236983972102783,
+            "release_required_pad_clearance": 0.054215015075520234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.447256110079623,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26405125642825483,
+              0.15768914794582475,
+              0.8321834670784974
+            ],
+            "target_position": [
+              0.2789141701141652,
+              0.2044410040156595,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04905754018710443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16874874719968205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321834670784974,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676360396166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1385010322045558,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b03a85c9eb79cc14fde3c4765e234a5f477b9f6af63c001ea190e9b511cb985e",
+    "visual_seed": 4777814260112263006,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..438c87cb789dc401a63d49ec5acaf4853201faa5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_79_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3153903648016416,
+              -0.07966175269233229,
+              1.1659464525483374
+            ],
+            "current_z": 1.1659464525483374,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3048399445335713,
+            "gripper_z": 1.157295941272683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31085110954154044,
+              -0.08430325852807116,
+              1.157295941272683
+            ],
+            "object_minus_gripper": [
+              0.004539255260101183,
+              0.004641505835738871,
+              0.008650511275654305
+            ],
+            "object_to_gripper_xy": 0.0064921810464245566,
+            "object_to_gripper_z": 0.008650511275654305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3153903648016416,
+              -0.10341202927541458,
+              1.1659464525483374
+            ],
+            "finger_b": [
+              0.3047428562744382,
+              -0.07966175269233229,
+              1.1659464525483374
+            ],
+            "finger_midpoint": [
+              0.3100666105380399,
+              -0.09153689098387344,
+              1.1659464525483374
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532375426360171,
+              0.011875138291541146,
+              0.0
+            ],
+            "finger_gap": 0.02602777507989833,
+            "fingertip_max_gap": 0.09188216531644225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013013887539949165,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659464525483374,
+            "object_top_z": 1.215884504149309,
+            "finger_top_clearance": 0.049938051600971534,
+            "fingertip_min_top_clearance": 0.014981415480291459,
+            "object_projection_between_fingers": 0.8326514695898787,
+            "object_to_finger_line_xy": 0.009715823640919366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844108265822113,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.463250101130945,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2679353099843851,
+              -0.3464640717429996,
+              0.851539611538985
+            ],
+            "target_position": [
+              0.2602871756012715,
+              -0.34683498517703915,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0076571232403373915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841011396730946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539611538985,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566577994068316,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676978153407751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15153106539998573,
+            "release_required_pad_clearance": 0.053384890767038756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7852578717968643,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666633855237955,
+            -0.3476587858059617,
+            1.0433933887807272
+          ],
+          "object_origin_world": [
+            0.2666633855237955,
+            -0.3476587858059617,
+            1.0433933887807272
+          ],
+          "frame_world": [
+            0.26666196736723696,
+            -0.34766319204895724,
+            1.043284843495609
+          ],
+          "center_minus_frame": [
+            1.418156558519179e-06,
+            4.406242995524945e-06,
+            0.00010854528511816675
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2650012676945085,
+              0.15691560753990488,
+              0.8312626556486346
+            ],
+            "target_position": [
+              0.28025032786715154,
+              0.20359459363082028,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.049106634771940556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16841666833256733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312626556486346,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673908354491,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1383950385079109,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5688371cd17927de3e840c6802ab4f58db41cc17aa5b9a5843a55aaec9e3553d",
+    "visual_seed": 6698076185460788564,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..422e6f9ee33c2175f44091eb11f51f021d3192ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_7_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3149984452113194,
+              -0.07420439316110243,
+              1.1643396694027865
+            ],
+            "current_z": 1.1643396694027865,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3032331613880207,
+            "gripper_z": 1.1558138986626618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105157981369905,
+              -0.0788651019750449,
+              1.1558138986626618
+            ],
+            "object_minus_gripper": [
+              0.004482647074328938,
+              0.0046607088139424685,
+              0.008525770740124727
+            ],
+            "object_to_gripper_xy": 0.006466554835563586,
+            "object_to_gripper_z": 0.008525770740124727,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3149984452113194,
+              -0.09776656624177818,
+              1.1643396694027865
+            ],
+            "finger_b": [
+              0.30413141980554015,
+              -0.07420439316110243,
+              1.1643396694027865
+            ],
+            "finger_midpoint": [
+              0.30956493250842976,
+              -0.0859854797014403,
+              1.1643396694027865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005433512702889665,
+              0.011781086540337868,
+              0.0
+            ],
+            "finger_gap": 0.025947413001175534,
+            "fingertip_max_gap": 0.09204759156801204,
+            "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": 1.1643396694027865,
+            "object_top_z": 1.2142016486858205,
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+            "fingertip_min_top_clearance": 0.014958593784910178,
+            "object_projection_between_fingers": 0.8245985271562887,
+            "object_to_finger_line_xy": 0.009868064052145461,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852379578400602,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7834571769293925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2638145203567958,
+              -0.3447017000647988,
+              0.8515395557915167
+            ],
+            "target_position": [
+              0.2554937138713873,
+              -0.34541732188731916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00835152292462181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18593372516805456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395557915167,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573500516196872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665700704701566,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153299654491924,
+            "release_required_pad_clearance": 0.053328503523507834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6744004587205266,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26361864672421587,
+            -0.3439804379329823,
+            1.0433868631445644
+          ],
+          "object_origin_world": [
+            0.26361864672421587,
+            -0.3439804379329823,
+            1.0433868631445644
+          ],
+          "frame_world": [
+            0.2636171473378096,
+            -0.34398428835324113,
+            1.0432808004812502
+          ],
+          "center_minus_frame": [
+            1.4993864062562423e-06,
+            3.850420258855181e-06,
+            0.00010606266331425473
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26263912134721024,
+              0.1615090161293581,
+              0.8316855540969402
+            ],
+            "target_position": [
+              0.27803120243650176,
+              0.20767701770218583,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866621548351534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1680071803177001,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316855540969402,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566924852711,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13824182362318033,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 320,
+            "max_placed_release_frames": 320
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a89cb20ab74314916cedeb3c495c3bfb45ff6ea3870b65bbebe925e608a1e85d",
+    "visual_seed": 7568968907013331256,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cd35e7bf133d74d35850b18a301fab260655af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_80_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3231721696047448,
+              -0.07041778142452028,
+              1.1650185454629503
+            ],
+            "current_z": 1.1650185454629503,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3039119778435395,
+            "gripper_z": 1.156038546903444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3187468760761405,
+              -0.07494620218434307,
+              1.156038546903444
+            ],
+            "object_minus_gripper": [
+              0.004425293528604324,
+              0.004528420759822793,
+              0.008979998559506264
+            ],
+            "object_to_gripper_xy": 0.006331652027101722,
+            "object_to_gripper_z": 0.008979998559506264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3231721696047448,
+              -0.09408075343423512,
+              1.1650185454629503
+            ],
+            "finger_b": [
+              0.31270522694276337,
+              -0.07041778142452028,
+              1.1650185454629503
+            ],
+            "finger_midpoint": [
+              0.3179386982737541,
+              -0.0822492674293777,
+              1.1650185454629503
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233471330990724,
+              0.011831486004857422,
+              0.0
+            ],
+            "finger_gap": 0.025874565368750747,
+            "fingertip_max_gap": 0.09198135467126342,
+            "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": 1.2148405841400196,
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+            "object_projection_between_fingers": 0.8363584579355988,
+            "object_to_finger_line_xy": 0.009572294943237383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849067733563171,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8122638958185469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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": [],
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26138391786436993,
+              -0.34802596324382584,
+              0.8515395870866674
+            ],
+            "target_position": [
+              0.25431382913514367,
+              -0.3478097731929199,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007073393300053588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358394469187891,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395870866674,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568465471266264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718373353093321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1509847574031852,
+            "release_required_pad_clearance": 0.05359186676546661,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.194357983702235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.259593246655249,
+            -0.3489944099700085,
+            1.0434449861115511
+          ],
+          "object_origin_world": [
+            0.259593246655249,
+            -0.3489944099700085,
+            1.0434449861115511
+          ],
+          "frame_world": [
+            0.25959182625047283,
+            -0.34899853691792226,
+            1.043339151791109
+          ],
+          "center_minus_frame": [
+            1.4204047761867677e-06,
+            4.126947913740686e-06,
+            0.00010583432044208863
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2647120766003707,
+              0.15256588213439465,
+              0.8330708831633055
+            ],
+            "target_position": [
+              0.2782576338246691,
+              0.19938139179146597,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04873575756021528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.169694343741014,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330708831633055,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567327957845,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13848201529156337,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 303,
+            "max_placed_release_frames": 303
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33c9d939d00148b48904921b457fa934b08087d61eca2b99a424384f8c531a37",
+    "visual_seed": 701987258886719338,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a9a589d8f64711a6fcf65f9df07543cce1cfdb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31916583109442104,
+              -0.07164490718894165,
+              1.1661898930858845
+            ],
+            "current_z": 1.1661898930858845,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30508332546647365,
+            "gripper_z": 1.1575062147507778,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31467147383939836,
+              -0.0761542912105312,
+              1.1575062147507778
+            ],
+            "object_minus_gripper": [
+              0.004494357255022674,
+              0.004509384021589555,
+              0.008683678335106748
+            ],
+            "object_to_gripper_xy": 0.006366615379457293,
+            "object_to_gripper_z": 0.008683678335106748,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31916583109442104,
+              -0.09534585313846908,
+              1.1661898930858845
+            ],
+            "finger_b": [
+              0.30870510521820616,
+              -0.07164490718894165,
+              1.1661898930858845
+            ],
+            "finger_midpoint": [
+              0.31393546815631357,
+              -0.08349538016370536,
+              1.1661898930858845
+            ],
+            "object_minus_finger_midpoint": [
+              0.005230362938107469,
+              0.011850472974763715,
+              0.0
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+            "finger_gap": 0.02590678723345935,
+            "fingertip_max_gap": 0.09230681690324591,
+            "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": 1.1661898930858845,
+            "object_top_z": 1.2159901244870577,
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+            "fingertip_min_top_clearance": 0.014940069420351986,
+            "object_projection_between_fingers": 0.8369591141381405,
+            "object_to_finger_line_xy": 0.009570044187678501,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048653408451622956,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1885533408821427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26077125345031993,
+              -0.3425632998802638,
+              0.8515395094708593
+            ],
+            "target_position": [
+              0.2541139638844808,
+              -0.3422903392092719,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066628831515597375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18260301403338933,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395094708593,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758508678779772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843403347141875,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496068471914101,
+            "release_required_pad_clearance": 0.054217016735709375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.45134111571214,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26203550055430647,
+            -0.34358991346479695,
+            1.0434008724498305
+          ],
+          "object_origin_world": [
+            0.26203550055430647,
+            -0.34358991346479695,
+            1.0434008724498305
+          ],
+          "frame_world": [
+            0.26203409249525267,
+            -0.3435935925355054,
+            1.0432950136232757
+          ],
+          "center_minus_frame": [
+            1.4080590537979276e-06,
+            3.6790707084732865e-06,
+            0.00010585882655478329
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2601230338327152,
+              0.15924776808827673,
+              0.8327397118148571
+            ],
+            "target_position": [
+              0.277425035239805,
+              0.2037489208862171,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047746328162871055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16418542741579983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327397118148571,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567032374767,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13494823787715993,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4083634a2577a87d5e3b219421c58b69fa879d7ac4346be6ba99011c7ea4ef1c",
+    "visual_seed": 5152550911178756136,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6e99799532ed60f27ea1c8a9def990608d9c98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_85_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32152580400329644,
+              -0.07693666673708234,
+              1.1661274114987883
+            ],
+            "current_z": 1.1661274114987883,
+            "required_z": 0.8611063888054765,
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+            "lift_margin": 0.30502102269331177,
+            "gripper_z": 1.1573184222527046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3170463526043966,
+              -0.08137699867026918,
+              1.1573184222527046
+            ],
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+              0.004479451398899825,
+              0.004440331933186839,
+              0.008808989246083643
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+            "object_to_gripper_xy": 0.006307299938324193,
+            "object_to_gripper_z": 0.008808989246083643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32152580400329644,
+              -0.10088294046399893,
+              1.1661274114987883
+            ],
+            "finger_b": [
+              0.3114954888163114,
+              -0.07693666673708234,
+              1.1661274114987883
+            ],
+            "finger_midpoint": [
+              0.3165106464098039,
+              -0.08890980360054063,
+              1.1661274114987883
+            ],
+            "object_minus_finger_midpoint": [
+              0.005015157593492525,
+              0.011973136863458286,
+              0.0
+            ],
+            "finger_gap": 0.02596211178149186,
+            "fingertip_max_gap": 0.09284458185403624,
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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": 1.1661274114987883,
+            "object_top_z": 1.2160023635978119,
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+            "object_projection_between_fingers": 0.8507380436356634,
+            "object_to_finger_line_xy": 0.009251507545161308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892229092701812,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.703779312753228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "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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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26014817234511645,
+              -0.3447231796417632,
+              0.8515395633387401
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+            "target_position": [
+              0.2539928201214967,
+              -0.3441389886726657,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006183012217778283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18511522607381076,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633387401,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578758206941036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08974199371219212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208072321062666,
+            "release_required_pad_clearance": 0.05487099685609606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.803184592483163,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25980934009726475,
+            -0.34382122650408653,
+            1.0434468144883722
+          ],
+          "object_origin_world": [
+            0.25980934009726475,
+            -0.34382122650408653,
+            1.0434468144883722
+          ],
+          "frame_world": [
+            0.2598079472447255,
+            -0.34382483188854496,
+            1.043342021368515
+          ],
+          "center_minus_frame": [
+            1.3928525392503666e-06,
+            3.6053844584271744e-06,
+            0.00010479311985722717
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26192607701633697,
+              0.156569726906673,
+              0.8324465553882231
+            ],
+            "target_position": [
+              0.27822255295891535,
+              0.20178270024993494,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04806025475052697,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1652493931334608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324465553882231,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673948612722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13541812511852733,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "workflow_spec_digest": "e056a80fc5fb4961555a1fa58e3ddf55cd30108dfddaf08ec2693ad3a4a88593",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1365f60ec72cf29c5d2565866789a6536b0f6afbef488f8e0e0a328e4f49da9a",
+    "visual_seed": 3340384336185883702,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685,
+      7335815437279525119,
+      8505066693774525853
+    ],
+    "runtime_workflow_digest": "4ee13fcb49eb5d77ea1606c530c3c52eeb77b69f8065a745ab282af2ee56a5a6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..423c88d732747165741343669c5e1f488fd19640
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00023/results/episode_8_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32251063668927993,
+              -0.07944001913155166,
+              1.1657053215313806
+            ],
+            "current_z": 1.1657053215313806,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30459875391196967,
+            "gripper_z": 1.1568009239306611,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31803327129854253,
+              -0.08389613111406756,
+              1.1568009239306611
+            ],
+            "object_minus_gripper": [
+              0.004477365390737398,
+              0.004456111982515901,
+              0.008904397600719482
+            ],
+            "object_to_gripper_xy": 0.006316940307054899,
+            "object_to_gripper_z": 0.008904397600719482,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32251063668927993,
+              -0.10327592901664101,
+              1.1657053215313806
+            ],
+            "finger_b": [
+              0.31231762918393785,
+              -0.07944001913155166,
+              1.1657053215313806
+            ],
+            "finger_midpoint": [
+              0.3174141329366089,
+              -0.09135797407409633,
+              1.1657053215313806
+            ],
+            "object_minus_finger_midpoint": [
+              0.005096503752671011,
+              0.011917954942544676,
+              0.0
+            ],
+            "finger_gap": 0.025923888636816435,
+            "fingertip_max_gap": 0.0921771166783811,
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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": 1.1657053215313806,
+            "object_top_z": 1.2156144459695377,
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+            "fingertip_min_top_clearance": 0.014972737331447094,
+            "object_projection_between_fingers": 0.8454018140275605,
+            "object_to_finger_line_xy": 0.00937203564477317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048588558339190555,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9614980749794626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26135753367857634,
+              -0.342499890918598,
+              0.8515395669630962
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+            "target_position": [
+              0.2540687765597698,
+              -0.3423998553868327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072894435620676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18331083027598072,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395669630962,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755347248334836,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08817717265847093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1509586235900859,
+            "release_required_pad_clearance": 0.054088586329235466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.190400372829086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+}
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+  "published_failures": 0,
+  "matched_success_results": 54
+}
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b234d844a430b732f13db37249bc3ab4a1deff36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..987e01d8cd3edcccee9d39a4228e8bc837ec2bd1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00030
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00030
+  reproducibility:
+    enabled: true
+    layout_id: layout_00030
+    action_seed: 6658796726011171620
+    step_seeds:
+    - 3188608099509189937
+    - 4949622282959698655
+    - 6590206372818194557
+    - 3957288070049760871
+    - 4471394649374130754
+    - 7646082623233218622
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2789
+      - 0.2789
+      'y':
+      - -0.1259
+      - -0.1259
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3526
+      - 0.3526
+      'y':
+      - 0.0065
+      - 0.0065
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2265
+      - 0.2265
+      'y':
+      - -0.4092
+      - -0.4092
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2932
+      - 0.2932
+      'y':
+      - 0.3092
+      - 0.3092
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65b2a8a0fe50f8ad497c5847633952279cc76ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3099610310361154,
+              -0.129387186824033,
+              1.1632886750351932
+            ],
+            "current_z": 1.1632886750351932,
+            "required_z": 0.8611065256696905,
+            "initial_z": 0.7611065256696905,
+            "lift_margin": 0.3021821493655027,
+            "gripper_z": 1.1540983985751876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3058527236990317,
+              -0.13369982725633772,
+              1.1540983985751876
+            ],
+            "object_minus_gripper": [
+              0.004108307337083672,
+              0.004312640432304726,
+              0.009190276460005586
+            ],
+            "object_to_gripper_xy": 0.005956261971596366,
+            "object_to_gripper_z": 0.009190276460005586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3099610310361154,
+              -0.1529893222283732,
+              1.1632886750351932
+            ],
+            "finger_b": [
+              0.30005696624430345,
+              -0.129387186824033,
+              1.1632886750351932
+            ],
+            "finger_midpoint": [
+              0.3050089986402094,
+              -0.1411882545262031,
+              1.1632886750351932
+            ],
+            "object_minus_finger_midpoint": [
+              0.00495203239590597,
+              0.011801067702170098,
+              0.0
+            ],
+            "finger_gap": 0.02559592340676964,
+            "fingertip_max_gap": 0.09163532862808219,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01279796170338482,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632886750351932,
+            "object_top_z": 1.2134000886930436,
+            "finger_top_clearance": 0.050111413657850434,
+            "fingertip_min_top_clearance": 0.015033424097355096,
+            "object_projection_between_fingers": 0.8502780958501521,
+            "object_to_finger_line_xy": 0.009132590161130102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048317664314041095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0913895712496524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2868817193251347,
+              -0.4032902998494856,
+              0.8515395596070464
+            ],
+            "target_position": [
+              0.2800372612542191,
+              -0.40425761898510704,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006912475142426219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18591959699413865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395596070464,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545268625348049,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597063446308777,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15403180026920957,
+            "release_required_pad_clearance": 0.052985317231543885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0048215172708712,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008639991283416748,
+            "max_z_decrease": 0.008639991283416748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035052572774917065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008639991283416748,
+            "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": 0.020821577043747097,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008639991283416748,
+            "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": 0.008640432442025127,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13573718070983887,
+              -0.46051907539367665,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13573718070983887,
+              -0.46051907539367665,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13405706471309364,
+              -0.4587042970562657,
+              0.8031316750280434
+            ],
+            "closest_button": [
+              0.135818749666214,
+              -0.4604879319667815,
+              0.7681688666343689
+            ],
+            "closest_ee_minus_button": [
+              -0.001761684953120346,
+              0.0017836349105158078,
+              0.034962808393674494
+            ],
+            "button_min_z_position": [
+              0.135818749666214,
+              -0.4604879319667815,
+              0.7681688666343689
+            ],
+            "min_active_finger_to_button": 0.14660452933937093,
+            "closest_active_finger": [
+              0.006725713610649109,
+              -0.5211493372917175,
+              0.8108936548233032
+            ],
+            "closest_active_finger_button": [
+              0.13573870062828064,
+              -0.4605177640914916,
+              0.776654064655304
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12901298701763153,
+              -0.06063157320022594,
+              0.03423959016799927
+            ],
+            "min_contact_pad_to_button": 0.020821577043747097,
+            "closest_contact_pad": [
+              0.135818749666214,
+              -0.4604879319667815,
+              0.788990443678116
+            ],
+            "closest_contact_pad_button": [
+              0.135818749666214,
+              -0.4604879319667815,
+              0.7681688666343689
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020821577043747097
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_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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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "156ceb43124f050320895be23ed6ebb08aa92c5f377dd4c7ae1fece811d4036a",
+    "visual_seed": 3310693336618825992,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26b2d7eff6da3915eda50b7ef817be9fa7af2adf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.12797184032628484,
+              1.1652526161738441
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+            "lift_margin": 0.30414616776372294,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.13223879766090618,
+              1.1560069697274473
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+              0.0038046551981303356,
+              0.004266957334621346,
+              0.009245646446396805
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+            "object_to_gripper_xy": 0.00571684581496992,
+            "object_to_gripper_z": 0.009245646446396805,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15112594347599498,
+              1.1652526161738441
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+              -0.12797184032628484,
+              1.1652526161738441
+            ],
+            "finger_midpoint": [
+              0.304227141011165,
+              -0.1395488919011399,
+              1.1652526161738441
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011577051574855057,
+              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": 0.009277903495033999,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869790829851274,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6818953617745376,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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": {
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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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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.28248436463810367,
+              -0.40563055315919244,
+              0.851539611808792
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+            "target_position": [
+              0.2757779705642795,
+              -0.4067261762644381,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006795300689606905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18618411806278565,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539611808792,
+            "min_z": 0.5774145980897916,
+            "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_min_pad_clearance": 0.15387023357409094,
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+            "object_tilt_deg": 2.2566111332948475,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035002869850138646,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008506715297698975,
+            "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": 0.020938269013739012,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008506715297698975,
+            "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": 0.008506777567066557,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+              -0.4629563391208648,
+              0.7683021426200867
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+            "min_active_finger_to_button": 0.1453081175937658,
+            "closest_active_finger": [
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+              -0.4629854857921599,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402429789304733,
+              0.016297221183776744,
+              0.03436213731765747
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+            "min_contact_pad_to_button": 0.020938269013739012,
+            "closest_contact_pad": [
+              0.1314689368009567,
+              -0.46459136117507793,
+              0.7891764764339821
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+            "closest_contact_pad_button": [
+              0.1314689368009567,
+              -0.4629563391208648,
+              0.7683021426200867
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00163502205421312,
+              0.020874333813895474
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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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": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34f4e963914e910aceeb85db4140124bc82df5745f1d677bcf5cd258c04eb0d5",
+    "visual_seed": 22424115342181135,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf59245800b66f1ee3f4928e7c6b9870a3dd8b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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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": [
+              0.3106237961144777,
+              -0.1311658189197805,
+              1.1663733810489814
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+            "current_z": 1.1663733810489814,
+            "required_z": 0.8611066868287003,
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+            "lift_margin": 0.3052666942202811,
+            "gripper_z": 1.157256795542141,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.13558862540262584,
+              1.157256795542141
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+              0.004108050673237107,
+              0.004422806482845348,
+              0.009116585506840469
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+            "object_to_gripper_z": 0.009116585506840469,
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+            "finger_a": [
+              0.3106237961144777,
+              -0.15445437583671867,
+              1.1663733810489814
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+            "finger_b": [
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+              -0.1311658189197805,
+              1.1663733810489814
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+              0.3054028340170568,
+              -0.14281009737824957,
+              1.1663733810489814
+            ],
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+              0.0052209620974209,
+              0.011644278458469076,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009528013180715706,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048629157042443735,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+              ],
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.411733098145589,
+              0.8515395374220043
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+              0.27563346051888277,
+              -0.412829413664608,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18288853093998653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395374220043,
+            "min_z": 0.5774145980897916,
+            "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": 0.15071246193818827,
+            "release_required_pad_clearance": 0.053863592465919305,
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+            "object_tilt_deg": 2.736614247454504,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "max_contacted_z_stable_frames": 80,
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+            "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": 0.008807003498077393,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008807296090065747,
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+            "button_start": [
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+            "min_active_finger_to_button": 0.14590602223962013,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014701008796691839,
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+            "min_contact_pad_to_button": 0.02091647263172283,
+            "closest_contact_pad": [
+              0.13138897716999048,
+              -0.4704017813981682,
+              0.7888743056467808
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+            "closest_contact_pad_button": [
+              0.13138897716999048,
+              -0.4690454602241516,
+              0.7680018544197083
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013563211740165726,
+              0.020872451227072597
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c9e111a82adae8e166a4ce20f031f49d622d9dbca610051c0a2b66ed8eb45cb",
+    "visual_seed": 1162292537050068872,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4adeffc149000f9843ae6e82decd0408e52f9ebb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.12458065085139755,
+              1.1649635583512734
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+            "current_z": 1.1649635583512734,
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+            "lift_margin": 0.30385681191792835,
+            "gripper_z": 1.1558941140506627,
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+            "virtual_attach_allowed": false,
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+              -0.12892604307174022,
+              1.1558941140506627
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+              0.004064435063804883,
+              0.004345392220342664,
+              0.00906944430061074
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+            "object_to_gripper_z": 0.00906944430061074,
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+              -0.1480035580799527,
+              1.1649635583512734
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+              -0.12458065085139755,
+              1.1649635583512734
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+              0.3040767186723337,
+              -0.13629210446567513,
+              1.1649635583512734
+            ],
+            "object_minus_finger_midpoint": [
+              0.005083512172997684,
+              0.011711453614277584,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09179999404275122,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8414597688198472,
+            "object_to_finger_line_xy": 0.00932632492183977,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839999702137561,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0977095863822417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "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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+              "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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+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.404393142066651,
+              0.8515395613157654
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+            "target_position": [
+              0.2835478393391538,
+              -0.40567385371940434,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069258854762708315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477462656816146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395613157654,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560315738873552,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571100137035141,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15249480073191232,
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+            "virtual_attach_allowed": false,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "ee_contacted_z_ok": true,
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+            "required_contacted_press_frames": 2,
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+            "max_contacted_z_stable_frames": 80,
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008772313594818115,
+            "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": 0.008772483233962937,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.020972638667391696,
+            "closest_contact_pad": [
+              0.13927394151687617,
+              -0.4637680561598266,
+              0.788924696215406
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+            "closest_contact_pad_button": [
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+              -0.4618874490261077,
+              0.7680365443229675
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0018806071337189034,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16689edeed815c0492e72ca9a190d25d9a2e6162290e014a7fb4dbe9e5a5d8bf",
+    "visual_seed": 4599053814112182256,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da886b793668cca4a0b07d2a285fb6fa3c462d30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_14_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.30450303496246206,
+              -0.12975699481762437,
+              1.167490000970212
+            ],
+            "current_z": 1.167490000970212,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3063834929554461,
+            "gripper_z": 1.1586165298086626,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30032130161747617,
+              -0.13420155847129248,
+              1.1586165298086626
+            ],
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+              0.004181733344985894,
+              0.004444563653668104,
+              0.008873471161549462
+            ],
+            "object_to_gripper_xy": 0.006102543718817136,
+            "object_to_gripper_z": 0.008873471161549462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30450303496246206,
+              -0.15319185957394227,
+              1.167490000970212
+            ],
+            "finger_b": [
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+              -0.12975699481762437,
+              1.167490000970212
+            ],
+            "finger_midpoint": [
+              0.29933226476542046,
+              -0.14147442719578332,
+              1.167490000970212
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051707701970415965,
+              0.011717432378158948,
+              0.0
+            ],
+            "finger_gap": 0.025615236556966733,
+            "fingertip_max_gap": 0.09239307449955206,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012807618278483366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.167490000970212,
+            "object_top_z": 1.217596778571904,
+            "finger_top_clearance": 0.05010677760169191,
+            "fingertip_min_top_clearance": 0.015032033280507572,
+            "object_projection_between_fingers": 0.83700520975167,
+            "object_to_finger_line_xy": 0.009461267319095851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869653724977603,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.594764767811987,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28548594215537154,
+              -0.40506614687062836,
+              0.8515395761429845
+            ],
+            "target_position": [
+              0.27905230794219094,
+              -0.4059386862977,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006492532190201491,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18291528745019864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395761429845,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547115192348906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573432644519745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108391600350088,
+            "release_required_pad_clearance": 0.052867163222598726,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.7763166004771106,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00852513313293457,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500809113398394,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00852513313293457,
+            "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": 0.020895879001675395,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00852513313293457,
+            "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": 0.008525198581880607,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4622001349925994,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.1470376789853345,
+            "closest_active_finger": [
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+              0.8108277916908264
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+            "closest_active_finger_button": [
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+              -0.4621997773647308,
+              0.776500940322876
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14200347661972043,
+              0.016636073589324896,
+              0.03432685136795044
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+            "min_contact_pad_to_button": 0.020895879001675395,
+            "closest_contact_pad": [
+              0.13476547598838806,
+              -0.46371722920618685,
+              0.7891222035140758
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+            "closest_contact_pad_button": [
+              0.13476547598838806,
+              -0.4621694684028625,
+              0.7682837247848511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015477608033243606,
+              0.02083847872922473
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a7534ff2e6b368d213d853183c44c77e7313bdc4be94d560c3131cae2d09343",
+    "visual_seed": 1043252884010845284,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57679c4371e7f6b64c7758f43baad0fd034a5f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+            "active_arm": null,
+            "object_position": [
+              0.31066692307235405,
+              -0.12737489522155737,
+              1.1667025775778468
+            ],
+            "current_z": 1.1667025775778468,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.3055960099584357,
+            "gripper_z": 1.157718300297339,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30654225566494286,
+              -0.13186481633712233,
+              1.157718300297339
+            ],
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+              0.004124667407411187,
+              0.004489921115564954,
+              0.008984277280507769
+            ],
+            "object_to_gripper_xy": 0.006096906826068131,
+            "object_to_gripper_z": 0.008984277280507769,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31066692307235405,
+              -0.15065820050963813,
+              1.1667025775778468
+            ],
+            "finger_b": [
+              0.30009335988674274,
+              -0.12737489522155737,
+              1.1667025775778468
+            ],
+            "finger_midpoint": [
+              0.3053801414795484,
+              -0.13901654786559775,
+              1.1667025775778468
+            ],
+            "object_minus_finger_midpoint": [
+              0.005286781592805656,
+              0.011641652644040379,
+              0.0
+            ],
+            "finger_gap": 0.025571713739561613,
+            "fingertip_max_gap": 0.09209780172509055,
+            "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": 1.1667025775778468,
+            "object_top_z": 1.2167866874060236,
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+            "fingertip_min_top_clearance": 0.015025232948453003,
+            "object_projection_between_fingers": 0.8290287599800955,
+            "object_to_finger_line_xy": 0.009627336757353373,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854890086254528,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3745356645333922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28495851773876746,
+              -0.4071879331304127,
+              0.8515395095330157
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+            "target_position": [
+              0.27796043034576656,
+              -0.40831912976773765,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00708892326043761,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18265524453075196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395095330157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521913501875659,
+            "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": 0.15157805020420304,
+            "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": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00857168436050415,
+            "max_z_decrease": 0.00857168436050415,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501822128494654,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00857168436050415,
+            "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": 0.020893284762347086,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00857168436050415,
+            "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": 0.008571855023671845,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4645805954933166,
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+            "button_final": [
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+            "closest_ee": [
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+            "min_active_finger_to_button": 0.1447050483548096,
+            "closest_active_finger": [
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+              -0.44685253500938416,
+              0.8108164072036743
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03ee27ea10c36ca97d7f5907007b78ee4f45d70668d29ac9b1666eed49531e1a",
+    "visual_seed": 4612920450138526960,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61cfbb9b2ba34da3743fad90ceff0b118afd48ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_16_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3077154545409622,
+              -0.13181980083468753,
+              1.1661193721249457
+            ],
+            "current_z": 1.1661193721249457,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3050129237148246,
+            "gripper_z": 1.1571672518014735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3034875632189196,
+              -0.13612761798253126,
+              1.1571672518014735
+            ],
+            "object_minus_gripper": [
+              0.004227891322042598,
+              0.004307817147843729,
+              0.008952120323472146
+            ],
+            "object_to_gripper_xy": 0.0060359219354013845,
+            "object_to_gripper_z": 0.008952120323472146,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3077154545409622,
+              -0.15554972879721202,
+              1.1661193721249457
+            ],
+            "finger_b": [
+              0.29787431205512777,
+              -0.13181980083468753,
+              1.1661193721249457
+            ],
+            "finger_midpoint": [
+              0.302794883298045,
+              -0.14368476481594977,
+              1.1661193721249457
+            ],
+            "object_minus_finger_midpoint": [
+              0.004920571242917227,
+              0.011864963981262244,
+              0.0
+            ],
+            "finger_gap": 0.02568963928382603,
+            "fingertip_max_gap": 0.09254542078476255,
+            "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": 1.1661193721249457,
+            "object_top_z": 1.2162457379739906,
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+            "fingertip_min_top_clearance": 0.015037909754713518,
+            "object_projection_between_fingers": 0.8532510416764213,
+            "object_to_finger_line_xy": 0.009090419669879106,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877271039238128,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6471165541029311,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2809485671849435,
+              -0.4038360519664158,
+              0.8515396103866218
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+            "target_position": [
+              0.27494824952404223,
+              -0.40436338944335676,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006023445595862053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18250500183901838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396103866218,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543397417948891,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870593178052922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15058632091418683,
+            "release_required_pad_clearance": 0.053529658902646104,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.071041826912275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008451402187347412,
+            "max_z_decrease": 0.008451402187347412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499821838815628,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008451402187347412,
+            "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": 0.02096740682624907,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008451402187347412,
+            "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": 0.008451550802820399,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1306481808423996,
+              -0.4606248438358307,
+              0.7768088579177856
+            ],
+            "button_final": [
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+              -0.4606248438358307,
+              0.7768088579177856
+            ],
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+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd3a00f27a4f6cbf560d34b2478362c1543dc4c76f5ba72d9fa5fff1f0f2834f",
+    "visual_seed": 5036798185903056249,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d70681f5a0c099c2a48daeb49b8b39dacfd75a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_17_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30843441726837867,
+              -0.12615379706406124,
+              1.1645080512218748
+            ],
+            "current_z": 1.1645080512218748,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30340160281175377,
+            "gripper_z": 1.1553758210835945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30447115140788705,
+              -0.13040276232700077,
+              1.1553758210835945
+            ],
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+              0.003963265860491616,
+              0.004248965262939525,
+              0.00913223013828035
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+            "object_to_gripper_xy": 0.005810437340390575,
+            "object_to_gripper_z": 0.00913223013828035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30843441726837867,
+              -0.14959182769708607,
+              1.1645080512218748
+            ],
+            "finger_b": [
+              0.29852385550628824,
+              -0.12615379706406124,
+              1.1645080512218748
+            ],
+            "finger_midpoint": [
+              0.3034791363873335,
+              -0.13787281238057364,
+              1.1645080512218748
+            ],
+            "object_minus_finger_midpoint": [
+              0.004955280881045188,
+              0.011719015316512399,
+              0.0
+            ],
+            "finger_gap": 0.025447210346024554,
+            "fingertip_max_gap": 0.09256680151468108,
+            "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": 1.1645080512218748,
+            "object_top_z": 1.214557961440842,
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+            "fingertip_min_top_clearance": 0.015014973065690128,
+            "object_projection_between_fingers": 0.8483242380335678,
+            "object_to_finger_line_xy": 0.009128075219712572,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878340075734054,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8699958948147162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28909857679736156,
+              -0.4071551344867905,
+              0.8515395710102557
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+            "target_position": [
+              0.28280278694887834,
+              -0.40809001067555933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063648223309524755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18285623292791992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710102557,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755351477050381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608834535871589,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15089575848092485,
+            "release_required_pad_clearance": 0.053044172679357945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1190626403625568,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008812546730041504,
+            "max_z_decrease": 0.008812546730041504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350229438748425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008812546730041504,
+            "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": 0.02100552720418802,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
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+            "release_finger_gap": 0.11835673740369158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13445204961619295,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edf87ce3eebe78d53681ac8d87cc3b94f748c2945fd1a54bdfa719ddbd40df1d",
+    "visual_seed": 4631535180334435638,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce27deff3b0227be814be03e2caf2bad2d13728
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_18_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3076814589995393,
+              -0.12907783333993655,
+              1.167437762764721
+            ],
+            "current_z": 1.167437762764721,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30633125474995504,
+            "gripper_z": 1.1583679097815416,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035457106797491,
+              -0.13342861818011842,
+              1.1583679097815416
+            ],
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+              0.004135748319790189,
+              0.004350784840181865,
+              0.009069852983179416
+            ],
+            "object_to_gripper_xy": 0.0060028112489236,
+            "object_to_gripper_z": 0.009069852983179416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3076814589995393,
+              -0.15264886699710326,
+              1.167437762764721
+            ],
+            "finger_b": [
+              0.2976406260698642,
+              -0.12907783333993655,
+              1.167437762764721
+            ],
+            "finger_midpoint": [
+              0.3026610425347017,
+              -0.14086335016851992,
+              1.167437762764721
+            ],
+            "object_minus_finger_midpoint": [
+              0.005020416464837585,
+              0.011785516828583364,
+              0.0
+            ],
+            "finger_gap": 0.025620537730284536,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012810268865142293,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.167437762764721,
+            "object_top_z": 1.217509099684889,
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+            "fingertip_min_top_clearance": 0.015021401076050388,
+            "object_projection_between_fingers": 0.8464099787177491,
+            "object_to_finger_line_xy": 0.009237620748748065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836195045676338,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.009520442318499,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2899737659398591,
+              -0.4091809239941814,
+              0.8515395705888236
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+            "target_position": [
+              0.2829835041621579,
+              -0.41059061439162925,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007130987781327828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841200624135881,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395705888236,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555632624606083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655631202320184,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15210329606805614,
+            "release_required_pad_clearance": 0.05327815601160092,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5756606554864074,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00886470079421997,
+            "max_z_decrease": 0.00886470079421997,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502347530940946,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00886470079421997,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "object_z": 0.8311366324029257,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673174868001,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13779886978108813,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "249406f7e42b1c3f2c8ebd19cc3ed665199e32fe505a28f519eabf5dab20ab95",
+    "visual_seed": 5429595142559893876,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3856cb6e567389dbab78db94d7588185db829d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_1_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30702367425703975,
+              -0.12372232875787498,
+              1.1656290514476049
+            ],
+            "current_z": 1.1656290514476049,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3045226030374838,
+            "gripper_z": 1.1566733009894152,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30300459341349384,
+              -0.12797519011105968,
+              1.1566733009894152
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+              0.004019080843545908,
+              0.0042528613531847,
+              0.008955750458189637
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+            "object_to_gripper_xy": 0.00585148190771959,
+            "object_to_gripper_z": 0.008955750458189637,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30702367425703975,
+              -0.14723975260609223,
+              1.1656290514476049
+            ],
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+              -0.12372232875787498,
+              1.1656290514476049
+            ],
+            "finger_midpoint": [
+              0.3020947567279818,
+              -0.1354810406819836,
+              1.1656290514476049
+            ],
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+              0.011758711924108628,
+              0.0
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+            "finger_gap": 0.02549992424478385,
+            "fingertip_max_gap": 0.09274502311103436,
+            "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": 1.1656290514476049,
+            "object_top_z": 1.2157222584412555,
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+            "fingertip_min_top_clearance": 0.015027962098095182,
+            "object_projection_between_fingers": 0.8505536494878435,
+            "object_to_finger_line_xy": 0.009091434274944866,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887251155551718,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.966672239301408,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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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": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28876267673462896,
+              -0.41237265590602246,
+              0.8515395980137345
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+            "target_position": [
+              0.2824145947298285,
+              -0.4132114640326496,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006403260436134647,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18536469288523993,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395980137345,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520400497638621,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560720938986098,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540600009278073,
+            "release_required_pad_clearance": 0.05280360469493049,
+            "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": 0.653716711228945,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00878894329071045,
+            "max_z_decrease": 0.00878894329071045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035086011948413286,
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+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2646679743979986,
+              0.14895748457658498,
+              0.8326388575667949
+            ],
+            "target_position": [
+              0.2767477084242487,
+              0.19465863237566555,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047270655636434226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16888996298032852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326388575667949,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672174458063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13849575707931303,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c3541a270f9e1db3f0a73f91782cc1c6bccd9278a7bb9c67633f5123894c15d",
+    "visual_seed": 6814885303715471488,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ebefbef47704fbb0d23d23ed9ae23263314af9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_20_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.30091230870426283,
+              -0.1286300884511246,
+              1.1651811795471652
+            ],
+            "current_z": 1.1651811795471652,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.30407467153239887,
+            "gripper_z": 1.156072787166574,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2970464868359267,
+              -0.13287526422405693,
+              1.156072787166574
+            ],
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+              0.0038658218683361167,
+              0.004245175772932319,
+              0.009108392380591246
+            ],
+            "object_to_gripper_xy": 0.005741610929068362,
+            "object_to_gripper_z": 0.009108392380591246,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30091230870426283,
+              -0.15188264123593434,
+              1.1651811795471652
+            ],
+            "finger_b": [
+              0.29093452509760054,
+              -0.1286300884511246,
+              1.1651811795471652
+            ],
+            "finger_midpoint": [
+              0.2959234169009317,
+              -0.1402563648435295,
+              1.1651811795471652
+            ],
+            "object_minus_finger_midpoint": [
+              0.004988891803331119,
+              0.011626276392404877,
+              0.0
+            ],
+            "finger_gap": 0.025302912415604284,
+            "fingertip_max_gap": 0.09271239831562703,
+            "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": 1.1651811795471652,
+            "object_top_z": 1.2153928804026908,
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+            "fingertip_min_top_clearance": 0.015063510256657718,
+            "object_projection_between_fingers": 0.8445011657821366,
+            "object_to_finger_line_xy": 0.0091692583121872,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048856199157813515,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7741480168731887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2847897318981155,
+              -0.4066459245690577,
+              0.8515395636769091
+            ],
+            "target_position": [
+              0.2785019839828029,
+              -0.40740727867263504,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006333674598331699,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402243558365178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395636769091,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532535842909875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625526133593646,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15257478131765165,
+            "release_required_pad_clearance": 0.05312763066796823,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2814382549289682,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2826040416678158,
+            -0.4087061007985328,
+            1.0434095070361729
+          ],
+          "object_origin_world": [
+            0.2826040416678158,
+            -0.4087061007985328,
+            1.0434095070361729
+          ],
+          "frame_world": [
+            0.2826278002412296,
+            -0.4087023114531319,
+            1.0437012511901247
+          ],
+          "center_minus_frame": [
+            -2.3758573413801276e-05,
+            -3.789345400906363e-06,
+            -0.00029174415395183395
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2757818286181575,
+              0.15177341501230657,
+              0.8335284257959905
+            ],
+            "target_position": [
+              0.28563374695282434,
+              0.19872343271020504,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047972538568496925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1698541450297044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335284257959905,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670158078476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13854938213095513,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5e3af74006615f1b2adccd21745e5d082ae341c0a534c105f5c219dce041e53",
+    "visual_seed": 6510982951355118163,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d15eb49e6d86914a2ca25c161d4f181b5a341ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30320390485016735,
+              -0.12777010829854388,
+              1.1678561499719797
+            ],
+            "current_z": 1.1678561499719797,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30674970156185855,
+            "gripper_z": 1.158922545780735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991510697037293,
+              -0.13219946680714645,
+              1.158922545780735
+            ],
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+              0.004052835146438061,
+              0.004429358508602571,
+              0.00893360419124467
+            ],
+            "object_to_gripper_xy": 0.006003722971784559,
+            "object_to_gripper_z": 0.00893360419124467,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30320390485016735,
+              -0.15101011087867874,
+              1.1678561499719797
+            ],
+            "finger_b": [
+              0.2927780337059331,
+              -0.12777010829854388,
+              1.1678561499719797
+            ],
+            "finger_midpoint": [
+              0.29799096927805024,
+              -0.1393901095886113,
+              1.1678561499719797
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052129355721171056,
+              0.011620001290067433,
+              0.0
+            ],
+            "finger_gap": 0.0254714842331744,
+            "fingertip_max_gap": 0.09281811543525573,
+            "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": 1.1678561499719797,
+            "object_top_z": 1.218077173018583,
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+            "fingertip_min_top_clearance": 0.015066306913981042,
+            "object_projection_between_fingers": 0.8324608908933996,
+            "object_to_finger_line_xy": 0.009512491304946701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048909057717627866,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8366434938608955,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2816029531553551,
+              -0.40669649620686377,
+              0.8515395532067758
+            ],
+            "target_position": [
+              0.27522520554855784,
+              -0.4076985220489953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006455983296470626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18343663868718899,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395532067758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580954483749068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629420410277212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15069113388539107,
+            "release_required_pad_clearance": 0.053147102051386064,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3193574389910465,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2803692058656091,
+            -0.4083093142592517,
+            1.0433571879261234
+          ],
+          "object_origin_world": [
+            0.2803692058656091,
+            -0.4083093142592517,
+            1.0433571879261234
+          ],
+          "frame_world": [
+            0.28036789913810983,
+            -0.4083199506123963,
+            1.0432268878785065
+          ],
+          "center_minus_frame": [
+            1.3067274992617506e-06,
+            1.0636353144577448e-05,
+            0.00013030004761693803
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2682893501131998,
+              0.14817857515132726,
+              0.832478219739672
+            ],
+            "target_position": [
+              0.280117943006618,
+              0.19462270599504533,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047926745139500425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17010043043949216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832478219739672,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671105997932,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13933043061935002,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fb472e77e598a9abcbfd77b1dcbe7ebbdf2f6b0c08a590f1a9d2fdaf0515520",
+    "visual_seed": 8329187028493962687,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea5cadf9e1ef62fa79f9b88310c95b47033e0aed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3046597613839616,
+              -0.1283490213360597,
+              1.1640992405867947
+            ],
+            "current_z": 1.1640992405867947,
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+            "lift_margin": 0.30299267296738397,
+            "gripper_z": 1.1551317778878443,
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+            "gripper_position": [
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+              -0.13268568933974695,
+              1.1551317778878443
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+              0.004183514651466658,
+              0.004336668003687261,
+              0.008967462698950435
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+            "object_to_gripper_z": 0.008967462698950435,
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+              -0.15198204135668508,
+              1.1640992405867947
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+            "finger_b": [
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+              -0.1283490213360597,
+              1.1640992405867947
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+              0.29967835036394264,
+              -0.14016553134637239,
+              1.1640992405867947
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+              0.011816510010312697,
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+            "object_to_finger_line_xy": 0.009180410532422797,
+            "fingertip_xy_max_dist": 0.055,
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+              0.0,
+              1.0
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+            "stable_success_frames": 342,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28787793061038,
+              -0.4046389812415324,
+              0.8515396613402314
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+            "target_position": [
+              0.28140010243447133,
+              -0.4056693348904599,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006559259601392072,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18510844108966465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396613402314,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756643838533923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869882321461135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280148639345784,
+            "release_required_pad_clearance": 0.05349411607305675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.000684270348097,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28550760617526183,
+            -0.4057486444884388,
+            1.043390999226266
+          ],
+          "object_origin_world": [
+            0.28550760617526183,
+            -0.4057486444884388,
+            1.043390999226266
+          ],
+          "frame_world": [
+            0.2855315006793383,
+            -0.40574478628916927,
+            1.0436820279100052
+          ],
+          "center_minus_frame": [
+            -2.3894504076471534e-05,
+            -3.85819926951303e-06,
+            -0.0002910286837392029
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26343769579603243,
+              0.15335502080006774,
+              0.8319804989078672
+            ],
+            "target_position": [
+              0.27790879542227404,
+              0.19834034988554522,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047255608739294803,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16553740996541624,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319804989078672,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676909613689,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361401042055127,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1638973d9cbbd4c35e2dd40000e634d7460cbfb9d1cb1897862853ff4b0ac381",
+    "visual_seed": 490118137033425416,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ad6af96d22359b45e49bc5d4b574169e8b2c99f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_23_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3071032568715248,
+              -0.1271319050208254,
+              1.165505148301281
+            ],
+            "current_z": 1.165505148301281,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3043985210772254,
+            "gripper_z": 1.1566733048322038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30284667159231854,
+              -0.13143597367330173,
+              1.1566733048322038
+            ],
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+              0.004256585279206249,
+              0.004304068652476345,
+              0.008831843469077283
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+            "object_to_gripper_z": 0.008831843469077283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3071032568715248,
+              -0.1508911446225396,
+              1.165505148301281
+            ],
+            "finger_b": [
+              0.2972649394746014,
+              -0.1271319050208254,
+              1.165505148301281
+            ],
+            "finger_midpoint": [
+              0.30218409817306313,
+              -0.1390115248216825,
+              1.165505148301281
+            ],
+            "object_minus_finger_midpoint": [
+              0.004919158698461656,
+              0.01187961980085711,
+              0.0
+            ],
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2155427115416169,
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+            "object_projection_between_fingers": 0.8536316741216234,
+            "object_to_finger_line_xy": 0.009089836885248205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881669193462783,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8980653736073556,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28587449285040467,
+              -0.40874654353620465,
+              0.8515395704715132
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+            "target_position": [
+              0.27946902063991363,
+              -0.40975315910547744,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006484084294923633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438025515905795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704715132,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754945083257696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819358426786598,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523899554437077,
+            "release_required_pad_clearance": 0.054096792133932994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.20704117836794,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28457548306008157,
+            -0.4098064613130468,
+            1.043494577127729
+          ],
+          "object_origin_world": [
+            0.28457548306008157,
+            -0.4098064613130468,
+            1.043494577127729
+          ],
+          "frame_world": [
+            0.28457430570196207,
+            -0.40981759462076184,
+            1.0433614651449306
+          ],
+          "center_minus_frame": [
+            1.1773581194973737e-06,
+            1.1133307715016638e-05,
+            0.00013311198279852832
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27295659304723785,
+              0.1528630771694106,
+              0.8322553886529788
+            ],
+            "target_position": [
+              0.28634463716567954,
+              0.19881053038362645,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04785820914106476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16562576958896255,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322553886529788,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671247198276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13536800722003361,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 295,
+            "max_placed_release_frames": 295
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "687a37d555d029f92ded8b3eb8bd4bbf7a8558afe11c3a72a1bbb49ae7b49d13",
+    "visual_seed": 8884296029851204689,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..607a06b5943c9e1ec566f31d3d027df7ddd99494
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_25_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3039605187743772,
+              -0.13147093117838513,
+              1.1661549460948897
+            ],
+            "current_z": 1.1661549460948897,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30504849768476827,
+            "gripper_z": 1.1571634455420678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998204430453114,
+              -0.135749656457556,
+              1.1571634455420678
+            ],
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+              0.004140075729065773,
+              0.004278725279170864,
+              0.00899150055282183
+            ],
+            "object_to_gripper_xy": 0.005953798540177127,
+            "object_to_gripper_z": 0.00899150055282183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3039605187743772,
+              -0.15502586797954981,
+              1.1661549460948897
+            ],
+            "finger_b": [
+              0.29403908791172173,
+              -0.13147093117838513,
+              1.1661549460948897
+            ],
+            "finger_midpoint": [
+              0.29899980334304943,
+              -0.14324839957896746,
+              1.1661549460948897
+            ],
+            "object_minus_finger_midpoint": [
+              0.004960715431327756,
+              0.01177746840058233,
+              0.0
+            ],
+            "finger_gap": 0.025559143922856936,
+            "fingertip_max_gap": 0.09247847858275685,
+            "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": 1.2163142671953093,
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+            "object_projection_between_fingers": 0.8493198604525075,
+            "object_to_finger_line_xy": 0.009143446965685822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048739239291378425,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6293753989019197,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28253662345166913,
+              -0.40370762200511956,
+              0.8515395560018314
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+            "target_position": [
+              0.27573083803321496,
+              -0.40451819703357306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006853885543164241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483998567396234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395560018314,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518382422076104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600308508991626,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536142147477823,
+            "release_required_pad_clearance": 0.05300154254495813,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.036265919363138,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2812712994305864,
+            -0.40281753731684783,
+            1.043546850025894
+          ],
+          "object_origin_world": [
+            0.2812712994305864,
+            -0.40281753731684783,
+            1.043546850025894
+          ],
+          "frame_world": [
+            0.28127011253620604,
+            -0.4028275678849984,
+            1.0434179444851757
+          ],
+          "center_minus_frame": [
+            1.186894380333925e-06,
+            1.0030568150576347e-05,
+            0.00012890554071831595
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2647951488880548,
+              0.1533372944364778,
+              0.8320376801905047
+            ],
+            "target_position": [
+              0.27866830232285034,
+              0.1995793337954302,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827826208864898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16527248096060426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320376801905047,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668250420323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346948096028387,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcc2a1b8a458dc9841c447f820c9289921ed8d9a6c4cb9a836644cdffc6e3819",
+    "visual_seed": 3351650724550963973,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b09f1bed1ef5afcf4a529fc3b1f826d3fb87fb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_26_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30555829499607867,
+              -0.12687491576638124,
+              1.165956229984321
+            ],
+            "current_z": 1.165956229984321,
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+            "initial_z": 0.7611063292008318,
+            "lift_margin": 0.30484990078348917,
+            "gripper_z": 1.1570514021889773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3013951233680901,
+              -0.13134047906722013,
+              1.1570514021889773
+            ],
+            "object_minus_gripper": [
+              0.004163171627988571,
+              0.004465563300838887,
+              0.008904827795343628
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+            "object_to_gripper_xy": 0.006105182519621187,
+            "object_to_gripper_z": 0.008904827795343628,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30555829499607867,
+              -0.1503068454622005,
+              1.165956229984321
+            ],
+            "finger_b": [
+              0.295183209094733,
+              -0.12687491576638124,
+              1.165956229984321
+            ],
+            "finger_midpoint": [
+              0.30037075204540586,
+              -0.13859088061429087,
+              1.165956229984321
+            ],
+            "object_minus_finger_midpoint": [
+              0.005187542950672808,
+              0.011715964847909627,
+              0.0
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165956229984321,
+            "object_top_z": 1.2161142377224325,
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+            "object_projection_between_fingers": 0.8360853076846534,
+            "object_to_finger_line_xy": 0.00948673997542694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877809429198483,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6273708572130827,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2823368741475335,
+              -0.41081350772093694,
+              0.8515395791245701
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+            "target_position": [
+              0.27565494094829424,
+              -0.4120050686520298,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006787344748250434,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18505586551103306,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395791245701,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580353614276798,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800506996478262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523513014579263,
+            "release_required_pad_clearance": 0.05400253498239131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0163589304014344,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28347816929747977,
+            -0.41091156062789386,
+            1.0433923530669056
+          ],
+          "object_origin_world": [
+            0.28347816929747977,
+            -0.41091156062789386,
+            1.0433923530669056
+          ],
+          "frame_world": [
+            0.2835019490559677,
+            -0.41090698899631056,
+            1.0436831251066847
+          ],
+          "center_minus_frame": [
+            -2.3779758487940672e-05,
+            -4.571631583294433e-06,
+            -0.00029077203977911914
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27185639761099345,
+              0.14481199218010127,
+              0.8332206649011694
+            ],
+            "target_position": [
+              0.2817271781514822,
+              0.19212996915089914,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04833656228040477,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17030395298136097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332206649011694,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567066171341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13914474147835557,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7616aca86c667ed41594b48f7844174f4e6beadfd078d6431ce81c359119c56",
+    "visual_seed": 1655746003244592224,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4e8422362f2e87d786494229ddcfbf2c74a63b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_27_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30381551441125176,
+              -0.12318727000171491,
+              1.1664150537383313
+            ],
+            "current_z": 1.1664150537383313,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30530854572356525,
+            "gripper_z": 1.157502899317858,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2997355523057567,
+              -0.12751183877326622,
+              1.157502899317858
+            ],
+            "object_minus_gripper": [
+              0.00407996210549505,
+              0.00432456877155131,
+              0.008912154420473328
+            ],
+            "object_to_gripper_xy": 0.005945417213463863,
+            "object_to_gripper_z": 0.008912154420473328,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30381551441125176,
+              -0.14662112890024645,
+              1.1664150537383313
+            ],
+            "finger_b": [
+              0.2937057099748245,
+              -0.12318727000171491,
+              1.1664150537383313
+            ],
+            "finger_midpoint": [
+              0.2987606121930381,
+              -0.13490419945098067,
+              1.1664150537383313
+            ],
+            "object_minus_finger_midpoint": [
+              0.005054902218213642,
+              0.011716929449265764,
+              0.0
+            ],
+            "finger_gap": 0.025521635696386914,
+            "fingertip_max_gap": 0.09233495162708713,
+            "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": 1.1664150537383313,
+            "object_top_z": 1.2165121200897198,
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+            "object_projection_between_fingers": 0.8430835410233104,
+            "object_to_finger_line_xy": 0.009282780048793047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866747581354357,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5820630250128553,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28998007035492923,
+              -0.4111705637910904,
+              0.8515395052801328
+            ],
+            "target_position": [
+              0.28383493604396404,
+              -0.4120897843575681,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006213504820118614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18216341139316292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395052801328,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538091422552456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566321140079385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15057290350741145,
+            "release_required_pad_clearance": 0.052831605700396925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7077556700703407,
+            "object_max_tilt_deg": 12.0,
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2897266178799332,
+            -0.410287028602311,
+            1.043386825484425
+          ],
+          "object_origin_world": [
+            0.2897266178799332,
+            -0.410287028602311,
+            1.043386825484425
+          ],
+          "frame_world": [
+            0.2897255564975979,
+            -0.4102983828705951,
+            1.0432517085956683
+          ],
+          "center_minus_frame": [
+            1.0613823352989549e-06,
+            1.1354268284136104e-05,
+            0.00013511688875667005
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.271491043644222,
+              0.1452801354939071,
+              0.8325627200014082
+            ],
+            "target_position": [
+              0.2816698523749494,
+              0.19262499613230616,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048426686610237565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17015176959049724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325627200014082,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669089418603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13988008397648566,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "982568320d4616067f97f3c493e761ba8497d3c202e7891cf8f7ef3df883b53a",
+    "visual_seed": 3918620281471971205,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04285f294f614f7f29508ad2fccc6ee5d94d8a77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30093316722131364,
+              -0.12964161088292298,
+              1.1659316662895223
+            ],
+            "current_z": 1.1659316662895223,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3048249794608222,
+            "gripper_z": 1.1568097161000155,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2971901599939907,
+              -0.13387591874268207,
+              1.1568097161000155
+            ],
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+              0.0037430072273229587,
+              0.00423430785975909,
+              0.009121950189506789
+            ],
+            "object_to_gripper_xy": 0.005651501230205078,
+            "object_to_gripper_z": 0.009121950189506789,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30093316722131364,
+              -0.15275449871140367,
+              1.1659316662895223
+            ],
+            "finger_b": [
+              0.2909155503599882,
+              -0.12964161088292298,
+              1.1659316662895223
+            ],
+            "finger_midpoint": [
+              0.29592435879065093,
+              -0.14119805479716332,
+              1.1659316662895223
+            ],
+            "object_minus_finger_midpoint": [
+              0.005008808430662703,
+              0.01155644391424035,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09281297258127827,
+            "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": 1.1659316662895223,
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+            "object_projection_between_fingers": 0.841854312776842,
+            "object_to_finger_line_xy": 0.009191425850435834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890648629063914,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8197121262003697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2866173377595681,
+              -0.4087577414016869,
+              0.8515395629912478
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+            "target_position": [
+              0.2803779968635885,
+              -0.40949587626489764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006282851095842612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388563971431365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395629912478,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751339084293867,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852805908944335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529396377430911,
+            "release_required_pad_clearance": 0.05264029544721675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2878373665566744,
+            -0.40896045380167834,
+            1.043440176325353
+          ],
+          "object_origin_world": [
+            0.2878373665566744,
+            -0.40896045380167834,
+            1.043440176325353
+          ],
+          "frame_world": [
+            0.2878362936944762,
+            -0.4089713467565211,
+            1.0433062442552536
+          ],
+          "center_minus_frame": [
+            1.0728621981925812e-06,
+            1.0892954842744995e-05,
+            0.000133932070099263
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2770063234555258,
+              0.15368168672347712,
+              0.8332676171042306
+            ],
+            "target_position": [
+              0.2863413277721611,
+              0.2008254154588015,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805906225324678,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17099000710902065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332676171042306,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669162108883,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13949391476134143,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5223b387ac49dd437da7ffa99a6d24f758b6111c854d14d2f61dad2aeac9b87a",
+    "visual_seed": 7371883419122737234,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..909ff82c0621bfa025deda368f02eb3db9fd4f05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3076354913865465,
+              -0.1322520574066985,
+              1.1667728461700546
+            ],
+            "current_z": 1.1667728461700546,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30566633815528865,
+            "gripper_z": 1.157768794123327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035544033335916,
+              -0.136462063126414,
+              1.157768794123327
+            ],
+            "object_minus_gripper": [
+              0.004081088052954873,
+              0.004210005719715526,
+              0.009004052046727606
+            ],
+            "object_to_gripper_xy": 0.005863397296449255,
+            "object_to_gripper_z": 0.009004052046727606,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3076354913865465,
+              -0.1558443803546919,
+              1.1667728461700546
+            ],
+            "finger_b": [
+              0.297910370571014,
+              -0.1322520574066985,
+              1.1667728461700546
+            ],
+            "finger_midpoint": [
+              0.3027729309787802,
+              -0.1440482188806952,
+              1.1667728461700546
+            ],
+            "object_minus_finger_midpoint": [
+              0.004862560407766281,
+              0.011796161473996702,
+              0.0
+            ],
+            "finger_gap": 0.025518144073563027,
+            "fingertip_max_gap": 0.09263068582075559,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012759072036781524,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1667728461700546,
+            "object_top_z": 1.2169322958109705,
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+            "fingertip_min_top_clearance": 0.01504783489227477,
+            "object_projection_between_fingers": 0.85475812714878,
+            "object_to_finger_line_xy": 0.008991178603227455,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488153429103778,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8852949728321087,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853435307948158,
+              -0.40530983483439154,
+              0.8515396687981791
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+            "target_position": [
+              0.28020166798527474,
+              -0.4055320634648962,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005146662871838146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18180415706229042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396687981791,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571803985329162,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08700200019869973,
+            "release_gap_margin": 0.02,
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2837023936318897,
+            -0.40628393552628944,
+            1.043297340660391
+          ],
+          "object_origin_world": [
+            0.2837023936318897,
+            -0.40628393552628944,
+            1.043297340660391
+          ],
+          "frame_world": [
+            0.2837013278755546,
+            -0.40629428764860154,
+            1.0431663775069402
+          ],
+          "center_minus_frame": [
+            1.0657563351279542e-06,
+            1.0352122312096146e-05,
+            0.00013096315345073606
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2688955343017229,
+              0.14557464243198376,
+              0.8330197317839367
+            ],
+            "target_position": [
+              0.2796229140974348,
+              0.19198348745908284,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763252642922424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16893039145864622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330197317839367,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673076496937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13767954161858853,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "271be6d75d9d68fefeb5320b1f28ec7b815d746388f4145ed2b578c0154c390d",
+    "visual_seed": 8528155125246416147,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e221f2b84499e3df39f3930beb11bba8c0bd5a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_30_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.30733632223764396,
+              -0.12805918035231073,
+              1.1668562437662287
+            ],
+            "current_z": 1.1668562437662287,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3057496761468179,
+            "gripper_z": 1.1580047479013027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3029859050578675,
+              -0.13238066598603157,
+              1.1580047479013027
+            ],
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+              0.004350417179776467,
+              0.00432148563372084,
+              0.008851495864925951
+            ],
+            "object_to_gripper_xy": 0.00613199541100202,
+            "object_to_gripper_z": 0.008851495864925951,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30733632223764396,
+              -0.1518212056770498,
+              1.1668562437662287
+            ],
+            "finger_b": [
+              0.2974051487432992,
+              -0.12805918035231073,
+              1.1668562437662287
+            ],
+            "finger_midpoint": [
+              0.30237073549047155,
+              -0.13994019301468025,
+              1.1668562437662287
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011881012662369517,
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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": 0.009163079349027313,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859281111619705,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5757276811335936,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2839793432886685,
+              -0.40839746426983303,
+              0.8515395791141811
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+            "target_position": [
+              0.27805296079529557,
+              -0.4088126625823795,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005940908945312857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183022720657457,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395791141811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514086614345286,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693478033800443,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1518565886366272,
+            "release_required_pad_clearance": 0.05346739016900222,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              "rod_tip_xy_max_step": 3.26805991076526e-05,
+              "rod_tip_xy_range": 0.0006023558600435753,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2838309449923598,
+            -0.40957274990713927,
+            1.0435104247034919
+          ],
+          "object_origin_world": [
+            0.2838309449923598,
+            -0.40957274990713927,
+            1.0435104247034919
+          ],
+          "frame_world": [
+            0.28382973620598817,
+            -0.4095838629236804,
+            1.0433777024761148
+          ],
+          "center_minus_frame": [
+            1.2087863716092606e-06,
+            1.1113016541108856e-05,
+            0.00013272222737703565
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2736091934768931,
+              0.15373639870428646,
+              0.8327614115925109
+            ],
+            "target_position": [
+              0.2852517020185887,
+              0.20094612351549884,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0486241310656947,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16944983834344277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327614115925109,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672558969487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13786359615584448,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "83d7e04e0e37328662b2e44d988b13795ab7c4364685f744c9f2e70f4fa70fee",
+    "visual_seed": 5929073531504216367,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da33fc4aa5e47df88954f19e67ff06bbc55b390
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30536537005434927,
+              -0.1292598699249856,
+              1.1640842263526994
+            ],
+            "current_z": 1.1640842263526994,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3029777779425782,
+            "gripper_z": 1.1550912419760038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30123326180930415,
+              -0.13353653591873615,
+              1.1550912419760038
+            ],
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+              0.0041321082450451185,
+              0.004276665993750567,
+              0.0089929843766956
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+            "object_to_gripper_xy": 0.005946779848865466,
+            "object_to_gripper_z": 0.0089929843766956,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30536537005434927,
+              -0.15290791644096996,
+              1.1640842263526994
+            ],
+            "finger_b": [
+              0.2955518663928819,
+              -0.1292598699249856,
+              1.1640842263526994
+            ],
+            "finger_midpoint": [
+              0.3004586182236156,
+              -0.14108389318297776,
+              1.1640842263526994
+            ],
+            "object_minus_finger_midpoint": [
+              0.004906751830733691,
+              0.011824023257992172,
+              0.0
+            ],
+            "finger_gap": 0.025603416923055296,
+            "fingertip_max_gap": 0.09225349850610556,
+            "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": 1.1640842263526994,
+            "object_top_z": 1.2142202891719507,
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+            "fingertip_min_top_clearance": 0.015040818845775393,
+            "object_projection_between_fingers": 0.8530896744431378,
+            "object_to_finger_line_xy": 0.009064032030122885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048626749253052784,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.366454563223518,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2879715577170838,
+              -0.40349454639752325,
+              0.8515395016414896
+            ],
+            "target_position": [
+              0.2817492584811251,
+              -0.40425930320509734,
+              0.8084375599031817
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+              "rod_tip_xy_path_length": 0.0006007048684749659,
+              "rod_tip_xy_max_step": 3.2740101516609404e-05,
+              "rod_tip_xy_range": 0.0006006939178090583,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2877119101919726,
+            -0.4028922299745064,
+            1.0434099303436604
+          ],
+          "object_origin_world": [
+            0.2877119101919726,
+            -0.4028922299745064,
+            1.0434099303436604
+          ],
+          "frame_world": [
+            0.2877357550302946,
+            -0.4028881623178839,
+            1.0437003686356574
+          ],
+          "center_minus_frame": [
+            -2.384483832196249e-05,
+            -4.067656622530613e-06,
+            -0.00029043829199704163
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.269043576471959,
+              0.15309550394106766,
+              0.8313890928232689
+            ],
+            "target_position": [
+              0.28292591002510165,
+              0.19901509647636723,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047972160296245264,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1657566236387336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313890928232689,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673188201214,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13599599559255274,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "597ebe6e4f17614d0f00479dda64a82e7d21da1e56b34bc07b5a79df477a1db1",
+    "visual_seed": 5490174180377859231,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6525952aa36824be22a390761b55b5eb3de4b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3033006928116301,
+              -0.12604574749839415,
+              1.1646860168867432
+            ],
+            "current_z": 1.1646860168867432,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30357956847662193,
+            "gripper_z": 1.1558357245794697,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29909879940343986,
+              -0.13031961523978539,
+              1.1558357245794697
+            ],
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+              0.004201893408190216,
+              0.004273867741391241,
+              0.008850292307273522
+            ],
+            "object_to_gripper_xy": 0.005993484269162392,
+            "object_to_gripper_z": 0.008850292307273522,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3033006928116301,
+              -0.14972555402587756,
+              1.1646860168867432
+            ],
+            "finger_b": [
+              0.2934708320776411,
+              -0.12604574749839415,
+              1.1646860168867432
+            ],
+            "finger_midpoint": [
+              0.29838576244463555,
+              -0.13788565076213585,
+              1.1646860168867432
+            ],
+            "object_minus_finger_midpoint": [
+              0.00491493036699453,
+              0.011839903263741708,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09251761688552337,
+            "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": 1.1646860168867432,
+            "object_top_z": 1.2147653466088366,
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+            "fingertip_min_top_clearance": 0.01502379891662805,
+            "object_projection_between_fingers": 0.8530086248663996,
+            "object_to_finger_line_xy": 0.009078708587462393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875880844276169,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.820365214742176,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2859508791562283,
+              -0.4105291622011513,
+              0.8515395020058443
+            ],
+            "target_position": [
+              0.2794212744666299,
+              -0.4115241519079451,
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+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006009153902303358,
+              "rod_tip_xy_max_step": 3.27643025001453e-05,
+              "rod_tip_xy_range": 0.000600904556199455,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2865550309851033,
+            -0.4117172491491702,
+            1.0434585743527331
+          ],
+          "object_origin_world": [
+            0.2865550309851033,
+            -0.4117172491491702,
+            1.0434585743527331
+          ],
+          "frame_world": [
+            0.28655392438402083,
+            -0.4117286416412582,
+            1.0433242050455511
+          ],
+          "center_minus_frame": [
+            1.1066010824900552e-06,
+            1.1392492088035944e-05,
+            0.0001343693071820251
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27278901420284773,
+              0.1526331203528185,
+              0.8321079090145387
+            ],
+            "target_position": [
+              0.28589592444588063,
+              0.19893562264756226,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048121853817924255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1676255198181363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321079090145387,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671485632125,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13799602423017202,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 296,
+            "max_placed_release_frames": 296
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "836945f1f356628094d8be49818ae38b8a2a4dc967b77d3ceaffd5ca6bd19341",
+    "visual_seed": 315896704844804997,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..188974bd2b7ddad9db113833bcd67683c017652b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_34_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3097563897316593,
+              -0.12967937537005292,
+              1.1672737763236736
+            ],
+            "current_z": 1.1672737763236736,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30616732791355217,
+            "gripper_z": 1.1582510020863164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3056683490367901,
+              -0.13392413986513646,
+              1.1582510020863164
+            ],
+            "object_minus_gripper": [
+              0.004088040694869233,
+              0.004244764495083542,
+              0.0090227742373572
+            ],
+            "object_to_gripper_xy": 0.005893225122259352,
+            "object_to_gripper_z": 0.0090227742373572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3097563897316593,
+              -0.15332556302514333,
+              1.1672737763236736
+            ],
+            "finger_b": [
+              0.3000160114880325,
+              -0.12967937537005292,
+              1.1672737763236736
+            ],
+            "finger_midpoint": [
+              0.3048862006098459,
+              -0.14150246919759812,
+              1.1672737763236736
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048701891218134175,
+              0.011823093827545206,
+              0.0
+            ],
+            "finger_gap": 0.025573759186882736,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012786879593441368,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1672737763236736,
+            "object_top_z": 1.2173696602263788,
+            "finger_top_clearance": 0.05009588390270525,
+            "fingertip_min_top_clearance": 0.015028765170811574,
+            "object_projection_between_fingers": 0.8549350471455057,
+            "object_to_finger_line_xy": 0.009006216493134756,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048812414621161385,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7769001381226273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001752260374166259,
+                  0.001072312797989472
+                ],
+                "rod_tip_xy": [
+                  0.28535815909543943,
+                  -0.4100026578741852
+                ],
+                "target_mouth_xy": [
+                  0.2871104194696057,
+                  -0.4110749706721747
+                ],
+                "gripper_position": [
+                  0.28535049042314253,
+                  -0.41000736198164295,
+                  1.0016132409060141
+                ],
+                "rod_tip_xy_dist": 0.0020543298555989707,
+                "target_xy_drift": 3.9705682524443585e-09,
+                "depth": 0.019499890827288646,
+                "bottom_clearance": 0.07994067425936635,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000600805469194088,
+              "rod_tip_xy_max_step": 3.2711173259174076e-05,
+              "rod_tip_xy_range": 0.0006007939663829184,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2848815540224132,
+            -0.41143063939064595,
+            1.0434949815680332
+          ],
+          "object_origin_world": [
+            0.2848815540224132,
+            -0.41143063939064595,
+            1.0434949815680332
+          ],
+          "frame_world": [
+            0.28488039585849867,
+            -0.4114419895055602,
+            1.043361070631988
+          ],
+          "center_minus_frame": [
+            1.1581639145497036e-06,
+            1.1350114914265852e-05,
+            0.00013391093604520066
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27176862543966734,
+              0.1525577612649195,
+              0.8328070660940643
+            ],
+            "target_position": [
+              0.28347570541490813,
+              0.19978159324392353,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048653324946275646,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16774418422943713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328070660940643,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674098627409,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374263017528357,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb92120ef18d88b542872c579e8cc00b9978aedc005d3d70a3e03f850c986595",
+    "visual_seed": 3771777567745793574,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d03ef9163a31f3129414821ac787fa1b0fcecc9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3012495631262485,
+              -0.13047188815854432,
+              1.1668317593012176
+            ],
+            "current_z": 1.1668317593012176,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30572531089109656,
+            "gripper_z": 1.157789859302261,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29742646134477296,
+              -0.13467901721912412,
+              1.157789859302261
+            ],
+            "object_minus_gripper": [
+              0.0038231017814755464,
+              0.004207129060579795,
+              0.009041899998956549
+            ],
+            "object_to_gripper_xy": 0.005684720060292902,
+            "object_to_gripper_z": 0.009041899998956549,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3012495631262485,
+              -0.1537063634637349,
+              1.1668317593012176
+            ],
+            "finger_b": [
+              0.2913356941750622,
+              -0.13047188815854432,
+              1.1668317593012176
+            ],
+            "finger_midpoint": [
+              0.29629262865065537,
+              -0.1420891258111396,
+              1.1668317593012176
+            ],
+            "object_minus_finger_midpoint": [
+              0.004956934475593144,
+              0.011617237652595286,
+              0.0
+            ],
+            "finger_gap": 0.02526114883153191,
+            "fingertip_max_gap": 0.09330486578245825,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012630574415765955,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668317593012176,
+            "object_top_z": 1.2170208632246964,
+            "finger_top_clearance": 0.05018910392347875,
+            "fingertip_min_top_clearance": 0.015056731177043658,
+            "object_projection_between_fingers": 0.845978924249442,
+            "object_to_finger_line_xy": 0.009118490408389919,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915243289122913,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3544773144422426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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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+                  -0.40237727914932003,
+                  1.0017453933421574
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+                "rod_tip_xy_dist": 0.0022588557963551027,
+                "target_xy_drift": 9.552805942714884e-08,
+                "depth": 0.019370043980274976,
+                "bottom_clearance": 0.08007067305580551,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012707012125066641,
+                  0.0018686480636398994
+                ],
+                "rod_tip_xy": [
+                  0.2859291154903873,
+                  -0.40237727914932003
+                ],
+                "target_mouth_xy": [
+                  0.28719981670289396,
+                  -0.40424592721295993
+                ],
+                "gripper_position": [
+                  0.2859211783356027,
+                  -0.4023814013205273,
+                  1.0016006339461736
+                ],
+                "rod_tip_xy_dist": 0.0022597626329353823,
+                "target_xy_drift": 6.196240865770398e-10,
+                "depth": 0.01951445422549014,
+                "bottom_clearance": 0.07992616551686571,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006005917101437693,
+              "rod_tip_xy_max_step": 3.2607888856186585e-05,
+              "rod_tip_xy_range": 0.0006005860913278598,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2854594109492819,
+            -0.403835689715577,
+            1.0434222580514012
+          ],
+          "object_origin_world": [
+            0.2854594109492819,
+            -0.403835689715577,
+            1.0434222580514012
+          ],
+          "frame_world": [
+            0.28548325874426694,
+            -0.403831664349825,
+            1.0437129930669884
+          ],
+          "center_minus_frame": [
+            -2.3847794985043524e-05,
+            -4.025365752002852e-06,
+            -0.0002907350155871846
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27291531911229416,
+              0.1490545650407138,
+              0.8316579412153262
+            ],
+            "target_position": [
+              0.28622780449001306,
+              0.19471348987924314,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04756006396486922,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16735193502362444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316579412153262,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566968935106,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13753892576247534,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdbffaf3327c390ace5bc6878ebfa52ca047a0bb89380172f6735f4564207669",
+    "visual_seed": 3274140684836758310,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffa82cc2a2f30c6070dabee618c0376a95862db2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30052953687890505,
+              -0.13013217193708,
+              1.1659826303055252
+            ],
+            "current_z": 1.1659826303055252,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3048761222907592,
+            "gripper_z": 1.1568004944374306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2968118515214393,
+              -0.13438198651468303,
+              1.1568004944374306
+            ],
+            "object_minus_gripper": [
+              0.00371768535746575,
+              0.004249814577603039,
+              0.009182135868094576
+            ],
+            "object_to_gripper_xy": 0.0056464243872669136,
+            "object_to_gripper_z": 0.009182135868094576,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30052953687890505,
+              -0.15322809327041542,
+              1.1659826303055252
+            ],
+            "finger_b": [
+              0.29052634069512495,
+              -0.13013217193708,
+              1.1659826303055252
+            ],
+            "finger_midpoint": [
+              0.295527938787015,
+              -0.1416801326037477,
+              1.1659826303055252
+            ],
+            "object_minus_finger_midpoint": [
+              0.005001598091890047,
+              0.011547960666667717,
+              0.0
+            ],
+            "finger_gap": 0.02516913816813781,
+            "fingertip_max_gap": 0.09304470797607348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012584569084068905,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659826303055252,
+            "object_top_z": 1.216241536144187,
+            "finger_top_clearance": 0.05025890583866177,
+            "fingertip_min_top_clearance": 0.015077671751598498,
+            "object_projection_between_fingers": 0.8420422703537206,
+            "object_to_finger_line_xy": 0.009179219034006354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902235398803674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9912051545897171,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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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+                ],
+                "rod_tip_xy": [
+                  0.2794501117452534,
+                  -0.4124779237884939
+                ],
+                "target_mouth_xy": [
+                  0.2807629656451892,
+                  -0.41213718779681935
+                ],
+                "gripper_position": [
+                  0.27944011597324214,
+                  -0.4124884995616174,
+                  1.0015181440962513
+                ],
+                "rod_tip_xy_dist": 0.0013563503893165183,
+                "target_xy_drift": 9.508945072365493e-08,
+                "depth": 0.019576178063913097,
+                "bottom_clearance": 0.07986442117992498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013228815346778555,
+                  -0.0003513762054495606
+                ],
+                "rod_tip_xy": [
+                  0.27944011597324214,
+                  -0.4124884995616175
+                ],
+                "target_mouth_xy": [
+                  0.28076299750792,
+                  -0.4121371233561679
+                ],
+                "gripper_position": [
+                  0.2794502453380955,
+                  -0.41256764394539575,
+                  1.0009025314856603
+                ],
+                "rod_tip_xy_dist": 0.0013687515452220575,
+                "target_xy_drift": 1.0980905248866811e-07,
+                "depth": 0.01974178019777051,
+                "bottom_clearance": 0.07969884266087723,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006012058094037141,
+              "rod_tip_xy_max_step": 3.280753470870758e-05,
+              "rod_tip_xy_range": 0.0006011987833708637,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27894471260626014,
+            -0.4138811598508768,
+            1.0434155791797244
+          ],
+          "object_origin_world": [
+            0.27894471260626014,
+            -0.4138811598508768,
+            1.0434155791797244
+          ],
+          "frame_world": [
+            0.2789685518589847,
+            -0.4138769447787672,
+            1.0437071321867135
+          ],
+          "center_minus_frame": [
+            -2.3839252724588977e-05,
+            -4.215072109625684e-06,
+            -0.00029155300698913145
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27461690908825886,
+              0.14637564884202556,
+              0.833387193197571
+            ],
+            "target_position": [
+              0.2856063360681583,
+              0.19304763924786195,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047948328373250144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17040200029611338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833387193197571,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666609306174,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13897752833636598,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4153a62ef1f2f28d0111fc9c90fefe5076b83d43b40549dfbf731c7a4132520f",
+    "visual_seed": 7477968803570210348,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2945b275d2ff708c0e57b45c59d8fbca61cec01b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3083368710253648,
+              -0.1268060351958104,
+              1.1677241034046737
+            ],
+            "current_z": 1.1677241034046737,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3066176549945525,
+            "gripper_z": 1.1585604061945585,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3044626516304485,
+              -0.131063048230372,
+              1.1585604061945585
+            ],
+            "object_minus_gripper": [
+              0.0038742193949162784,
+              0.00425701303456158,
+              0.00916369721011523
+            ],
+            "object_to_gripper_xy": 0.005756017364147944,
+            "object_to_gripper_z": 0.00916369721011523,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3083368710253648,
+              -0.15003908696481594,
+              1.1677241034046737
+            ],
+            "finger_b": [
+              0.2982492048708497,
+              -0.1268060351958104,
+              1.1677241034046737
+            ],
+            "finger_midpoint": [
+              0.30329303794810725,
+              -0.13842256108031317,
+              1.1677241034046737
+            ],
+            "object_minus_finger_midpoint": [
+              0.005043833077257531,
+              0.011616525884502765,
+              0.0
+            ],
+            "finger_gap": 0.025328555089981736,
+            "fingertip_max_gap": 0.09230096916704514,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012664277544990868,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1677241034046737,
+            "object_top_z": 1.2178312378915734,
+            "finger_top_clearance": 0.05010713448689974,
+            "fingertip_min_top_clearance": 0.015032140346069922,
+            "object_projection_between_fingers": 0.8413790409830454,
+            "object_to_finger_line_xy": 0.009253084874509585,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865048458352257,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.529013375815589,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "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",
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+                "bottom_clearance": 0.08023232643892675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002583260535610199,
+                  0.002952131132587743
+                ],
+                "rod_tip_xy": [
+                  0.28222767366675927,
+                  -0.4039602882970489
+                ],
+                "target_mouth_xy": [
+                  0.28196934761319825,
+                  -0.40691241942963663
+                ],
+                "gripper_position": [
+                  0.2822197977226146,
+                  -0.40396459205546015,
+                  1.0017653360709065
+                ],
+                "rod_tip_xy_dist": 0.002963411981811203,
+                "target_xy_drift": 3.2986665522587485e-07,
+                "depth": 0.019351242892426845,
+                "bottom_clearance": 0.08008947573305003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00025044797653916984,
+                  0.0029478885582258085
+                ],
+                "rod_tip_xy": [
+                  0.28221979772261446,
+                  -0.4039645920554602
+                ],
+                "target_mouth_xy": [
+                  0.2819693497460753,
+                  -0.406912480613686
+                ],
+                "gripper_position": [
+                  0.28221191196469175,
+                  -0.4039687029731241,
+                  1.0016223294608126
+                ],
+                "rod_tip_xy_dist": 0.0029585082627349886,
+                "target_xy_drift": 2.6995427924321843e-07,
+                "depth": 0.019494601478628693,
+                "bottom_clearance": 0.07994597834684691,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006012293950709308,
+              "rod_tip_xy_max_step": 3.259346540015185e-05,
+              "rod_tip_xy_range": 0.0006012229820995125,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2817976347103297,
+            -0.4054209490370422,
+            1.0433891189660407
+          ],
+          "object_origin_world": [
+            0.2817976347103297,
+            -0.4054209490370422,
+            1.0433891189660407
+          ],
+          "frame_world": [
+            0.2817964230753465,
+            -0.4054312623143937,
+            1.0432589026220707
+          ],
+          "center_minus_frame": [
+            1.2116349831781115e-06,
+            1.031327735151466e-05,
+            0.00013021634397003545
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26913922512116917,
+              0.14797832017421358,
+              0.8317059124484844
+            ],
+            "target_position": [
+              0.28258523250762785,
+              0.1944503616328137,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04837815366429924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666719591372403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317059124484844,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672305387286,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13703099900510518,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37471b7235c009944066a1bec3a85eb5d9784443e9e9fe60d65b1a009fb25810",
+    "visual_seed": 2403035644020816160,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb649571d1c4a2bfac549d7658d2a528e399804
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3080083747354626,
+              -0.1290272367813437,
+              1.1665401936869944
+            ],
+            "current_z": 1.1665401936869944,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3054336856722284,
+            "gripper_z": 1.1573592677536313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30410077788219253,
+              -0.13335783618475797,
+              1.1573592677536313
+            ],
+            "object_minus_gripper": [
+              0.003907596853270079,
+              0.004330599403414265,
+              0.00918092593336306
+            ],
+            "object_to_gripper_xy": 0.005832958456952887,
+            "object_to_gripper_z": 0.00918092593336306,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3080083747354626,
+              -0.15237938993115274,
+              1.1665401936869944
+            ],
+            "finger_b": [
+              0.29794981671288745,
+              -0.1290272367813437,
+              1.1665401936869944
+            ],
+            "finger_midpoint": [
+              0.30297909572417503,
+              -0.14070331335624822,
+              1.1665401936869944
+            ],
+            "object_minus_finger_midpoint": [
+              0.00502927901128758,
+              0.01167607657490452,
+              0.0
+            ],
+            "finger_gap": 0.025426317984042587,
+            "fingertip_max_gap": 0.09218032776269061,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012713158992021294,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665401936869944,
+            "object_top_z": 1.216685263977332,
+            "finger_top_clearance": 0.05014507029033766,
+            "fingertip_min_top_clearance": 0.015043521087101296,
+            "object_projection_between_fingers": 0.84350354547432,
+            "object_to_finger_line_xy": 0.009238026031013622,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859016388134531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3265198752176492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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",
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+                "depth": 0.019172968686302805,
+                "bottom_clearance": 0.08026766199577529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001450686940460466,
+                  0.0026808010611479305
+                ],
+                "rod_tip_xy": [
+                  0.289571731920315,
+                  -0.4050864756687594
+                ],
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+                  0.2881210449798545,
+                  -0.4077672767299073
+                ],
+                "gripper_position": [
+                  0.28956379820251965,
+                  -0.4050908799883896,
+                  1.0017713588033257
+                ],
+                "rod_tip_xy_dist": 0.0030481448339398864,
+                "target_xy_drift": 9.737012226766606e-08,
+                "depth": 0.01934153958512519,
+                "bottom_clearance": 0.08009909511455227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014427217655269553,
+                  0.002676363309155494
+                ],
+                "rod_tip_xy": [
+                  0.28956379820251965,
+                  -0.4050908799883897
+                ],
+                "target_mouth_xy": [
+                  0.2881210764369927,
+                  -0.4077672432975452
+                ],
+                "gripper_position": [
+                  0.28955606596343636,
+                  -0.4050950399852221,
+                  1.001624155654543
+                ],
+                "rod_tip_xy_dist": 0.0030404550079418968,
+                "target_xy_drift": 5.899602025245512e-08,
+                "depth": 0.019488468497270706,
+                "bottom_clearance": 0.07995205635944447,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006029498049589669,
+              "rod_tip_xy_max_step": 3.279023117973563e-05,
+              "rod_tip_xy_range": 0.0006029424263108564,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28921352512268805,
+            -0.4065218594331545,
+            1.0434667079700468
+          ],
+          "object_origin_world": [
+            0.28921352512268805,
+            -0.4065218594331545,
+            1.0434667079700468
+          ],
+          "frame_world": [
+            0.2892124071678981,
+            -0.40653266655068654,
+            1.0433330740893534
+          ],
+          "center_minus_frame": [
+            1.1179547899642372e-06,
+            1.0807117532041222e-05,
+            0.00013363388069342896
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27116826228161744,
+              0.14793436984223993,
+              0.8331842492335444
+            ],
+            "target_position": [
+              0.28039412097176014,
+              0.19549911030481765,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04845122293444057,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17036708247486104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331842492335444,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671161777397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1386670074946196,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f8b64c8019dd40bbadf27deb5314c41537a69c80b42f3d73e121689a58928b0",
+    "visual_seed": 5878288930823119703,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb138ff5f8240eb060ee1f90985f301e8c6e755
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_3_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3107060441561366,
+              -0.1264281779331934,
+              1.1641211794490838
+            ],
+            "current_z": 1.1641211794490838,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3030147310389628,
+            "gripper_z": 1.1551237288581355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3063874983385753,
+              -0.13080443056480517,
+              1.1551237288581355
+            ],
+            "object_minus_gripper": [
+              0.004318545817561303,
+              0.004376252631611788,
+              0.008997450590948253
+            ],
+            "object_to_gripper_xy": 0.0061482863526404925,
+            "object_to_gripper_z": 0.008997450590948253,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3107060441561366,
+              -0.15018087376146225,
+              1.1641211794490838
+            ],
+            "finger_b": [
+              0.30069088078432327,
+              -0.1264281779331934,
+              1.1641211794490838
+            ],
+            "finger_midpoint": [
+              0.3056984624702299,
+              -0.13830452584732783,
+              1.1641211794490838
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050075816859067035,
+              0.011876347914134444,
+              0.0
+            ],
+            "finger_gap": 0.025777782225675908,
+            "fingertip_max_gap": 0.09188410915989323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012888891112837976,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641211794490838,
+            "object_top_z": 1.214205662294154,
+            "finger_top_clearance": 0.050084482845070166,
+            "fingertip_min_top_clearance": 0.015025344853521048,
+            "object_projection_between_fingers": 0.8490528299134905,
+            "object_to_finger_line_xy": 0.009228378421327328,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844205457994662,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1414067708048201,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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",
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+                "rod_tip_xy": [
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+                "depth": 0.019338653451491328,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00031414342968405506,
+                  -0.0003749076555139008
+                ],
+                "rod_tip_xy": [
+                  0.28928069009081087,
+                  -0.4090801634438331
+                ],
+                "target_mouth_xy": [
+                  0.2895948335204949,
+                  -0.4087052557883192
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+                "gripper_position": [
+                  0.2892728082670457,
+                  -0.40908471986693584,
+                  1.0016240929968172
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+                "rod_tip_xy_dist": 0.0004891235473544394,
+                "target_xy_drift": 3.1407653201219854e-08,
+                "depth": 0.01948740427089357,
+                "bottom_clearance": 0.0799532072955712,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006009559750856237,
+              "rod_tip_xy_max_step": 3.27773711762186e-05,
+              "rod_tip_xy_range": 0.0006009503869244665,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2888520686810866,
+            -0.4104951935182794,
+            1.0434413008917245
+          ],
+          "object_origin_world": [
+            0.2888520686810866,
+            -0.4104951935182794,
+            1.0434413008917245
+          ],
+          "frame_world": [
+            0.28885100191850316,
+            -0.4105066372565642,
+            1.0433063392927524
+          ],
+          "center_minus_frame": [
+            1.0667625834348549e-06,
+            1.1443738284822036e-05,
+            0.00013496159897208315
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27277918954751446,
+              0.1462421141005348,
+              0.8328143010578157
+            ],
+            "target_position": [
+              0.2847383976630629,
+              0.1923872160592382,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04766962443244263,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674943742533804,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328143010578157,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672320403394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13684718710164284,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f5ec866064437d8c1cc5e2c246f56ec1afa94e2e6acd886ec3e710cb8bced8a",
+    "visual_seed": 9049972942721081740,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9fa96042f2e955c6aefdac6b2a8202ac7988817
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_41_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.302924131166872,
+              -0.12805031728951388,
+              1.1681861671710414
+            ],
+            "current_z": 1.1681861671710414,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30707965915627544,
+            "gripper_z": 1.1590249529781491,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29901361497670464,
+              -0.13238071790595846,
+              1.1590249529781491
+            ],
+            "object_minus_gripper": [
+              0.003910516190167357,
+              0.004330400616444574,
+              0.009161214192892286
+            ],
+            "object_to_gripper_xy": 0.005834767036691745,
+            "object_to_gripper_z": 0.009161214192892286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.302924131166872,
+              -0.15123146510225496,
+              1.1681861671710414
+            ],
+            "finger_b": [
+              0.2926837414207538,
+              -0.12805031728951388,
+              1.1681861671710414
+            ],
+            "finger_midpoint": [
+              0.2978039362938129,
+              -0.1396408911958844,
+              1.1681861671710414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005120194873059092,
+              0.011590573906370527,
+              0.0
+            ],
+            "finger_gap": 0.02534228079847102,
+            "fingertip_max_gap": 0.09239756541339963,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012671140399235498,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1681861671710414,
+            "object_top_z": 1.2184055969845846,
+            "finger_top_clearance": 0.050219429813543215,
+            "fingertip_min_top_clearance": 0.015065828944062998,
+            "object_projection_between_fingers": 0.8367167730338517,
+            "object_to_finger_line_xy": 0.009367112228476535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869878270669982,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4270108782860087,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "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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+                "centered": true
+              },
+              {
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+                  1.0015650202110944
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+                "target_xy_drift": 2.752989620700101e-08,
+                "depth": 0.019548315876905087,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006006218211207534,
+              "rod_tip_xy_max_step": 3.268428817555491e-05,
+              "rod_tip_xy_range": 0.0006006123271242517,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28721889689447705,
+            -0.4075020726701891,
+            1.0433962751692816
+          ],
+          "object_origin_world": [
+            0.28721889689447705,
+            -0.4075020726701891,
+            1.0433962751692816
+          ],
+          "frame_world": [
+            0.287242425296947,
+            -0.4074976361555104,
+            1.0436863130285785
+          ],
+          "center_minus_frame": [
+            -2.3528402469941145e-05,
+            -4.436514678740622e-06,
+            -0.00029003785929693215
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27112403511958033,
+              0.15213162584072376,
+              0.8327399258563195
+            ],
+            "target_position": [
+              0.2828787212553085,
+              0.19936694363444085,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04867594778967253,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691151918374637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327399258563195,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671363163276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391560155197285,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6112344a4f5f0c35ee9de02d92bb2d2d9743dbd19923081490891bfdaebe464",
+    "visual_seed": 3577256750455040285,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aebdee2a10e815505e7fec0f67b8174fe25031a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3094337942262423,
+              -0.13205285609337705,
+              1.1676774605686662
+            ],
+            "current_z": 1.1676774605686662,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30657083334461055,
+            "gripper_z": 1.158554750431579,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3054454376933934,
+              -0.13630058759141264,
+              1.158554750431579
+            ],
+            "object_minus_gripper": [
+              0.003988356532848902,
+              0.00424773149803559,
+              0.009122710137087209
+            ],
+            "object_to_gripper_xy": 0.00582668093450484,
+            "object_to_gripper_z": 0.009122710137087209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3094337942262423,
+              -0.1555344381962349,
+              1.1676774605686662
+            ],
+            "finger_b": [
+              0.29956256914326984,
+              -0.13205285609337705,
+              1.1676774605686662
+            ],
+            "finger_midpoint": [
+              0.30449818168475606,
+              -0.14379364714480597,
+              1.1676774605686662
+            ],
+            "object_minus_finger_midpoint": [
+              0.004935612541486223,
+              0.011740791051428917,
+              0.0
+            ],
+            "finger_gap": 0.025472058862446863,
+            "fingertip_max_gap": 0.09244423809807514,
+            "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": 1.1676774605686662,
+            "object_top_z": 1.2177448960135577,
+            "finger_top_clearance": 0.05006743544489156,
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+              },
+              {
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+                "depth": 0.019497644751260812,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006002910434226814,
+              "rod_tip_xy_max_step": 3.253730776669834e-05,
+              "rod_tip_xy_range": 0.0006002840650988015,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2805664207932203,
+            -0.4126017478704,
+            1.043407813273045
+          ],
+          "object_origin_world": [
+            0.2805664207932203,
+            -0.4126017478704,
+            1.043407813273045
+          ],
+          "frame_world": [
+            0.28059022537129985,
+            -0.41259761962260033,
+            1.0436990897448464
+          ],
+          "center_minus_frame": [
+            -2.3804578079544836e-05,
+            -4.1282477996618105e-06,
+            -0.0002912764718012717
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.267297427445718,
+              0.15108894278381976,
+              0.8319101274631124
+            ],
+            "target_position": [
+              0.2814127182624425,
+              0.19641136691178468,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047469606736056325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16766510895317988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319101274631124,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672980384006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13810560155419227,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9f22bdccd090390f9b7d1e5ec13aff870431fc424d8c0b9e1e4e4bba970ac46",
+    "visual_seed": 7363021862297292092,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..826876a120faa5fd74141ba9741b43596eb331e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_44_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31110558848733955,
+              -0.12657381943858842,
+              1.1640037528866678
+            ],
+            "current_z": 1.1640037528866678,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3028971852672572,
+            "gripper_z": 1.15486426571239,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3070220537266677,
+              -0.1308484507278406,
+              1.15486426571239
+            ],
+            "object_minus_gripper": [
+              0.004083534760671859,
+              0.004274631289252179,
+              0.009139487174277816
+            ],
+            "object_to_gripper_xy": 0.005911660409789209,
+            "object_to_gripper_z": 0.009139487174277816,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31110558848733955,
+              -0.15008699662533517,
+              1.1640037528866678
+            ],
+            "finger_b": [
+              0.30113694526821255,
+              -0.12657381943858842,
+              1.1640037528866678
+            ],
+            "finger_midpoint": [
+              0.3061212668777761,
+              -0.13833040803196178,
+              1.1640037528866678
+            ],
+            "object_minus_finger_midpoint": [
+              0.004984321609563469,
+              0.011756588593373363,
+              0.0
+            ],
+            "finger_gap": 0.025539055367135147,
+            "fingertip_max_gap": 0.09203097841304106,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01276952768356755,
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000606961036766148,
+              "rod_tip_xy_max_step": 3.288203031463754e-05,
+              "rod_tip_xy_range": 0.0006069542713442954,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2816252713775648,
+            -0.4019485083032432,
+            1.0433313708197454
+          ],
+          "object_origin_world": [
+            0.2816252713775648,
+            -0.4019485083032432,
+            1.0433313708197454
+          ],
+          "frame_world": [
+            0.28162395168283383,
+            -0.40195844957937804,
+            1.043202327073745
+          ],
+          "center_minus_frame": [
+            1.3196947309945806e-06,
+            9.941276134850519e-06,
+            0.00012904374600042345
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2676479727651857,
+              0.14601384330389486,
+              0.8327613615280943
+            ],
+            "target_position": [
+              0.279678224693271,
+              0.19175145697191426,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04729330042932292,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16675894845610426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327613615280943,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567093527066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361305123905123,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c74da1f53eab411b41ad8a7b702cd19efaba0c9dcd24516af1b77f503b7abea",
+    "visual_seed": 2701637812549188076,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a961b17b36384ca4a8b31400ed2398814fad3eeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30827383360388233,
+              -0.13079849602263596,
+              1.164622473719103
+            ],
+            "current_z": 1.164622473719103,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30351602530898203,
+            "gripper_z": 1.1556653850904683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3042630003434227,
+              -0.13505406902378062,
+              1.1556653850904683
+            ],
+            "object_minus_gripper": [
+              0.004010833260459645,
+              0.004255573001144652,
+              0.008957088628634757
+            ],
+            "object_to_gripper_xy": 0.005847793174461683,
+            "object_to_gripper_z": 0.008957088628634757,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006017117516246698,
+              "rod_tip_xy_max_step": 3.271866605930768e-05,
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+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2874532409297332,
+            -0.4076776591571852,
+            1.0434873170259644
+          ],
+          "object_origin_world": [
+            0.2874532409297332,
+            -0.4076776591571852,
+            1.0434873170259644
+          ],
+          "frame_world": [
+            0.28745209534140875,
+            -0.40768856917504603,
+            1.0433542046623154
+          ],
+          "center_minus_frame": [
+            1.1455883244249065e-06,
+            1.0910017860854548e-05,
+            0.0001331123636489906
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26674240670467403,
+              0.14737730391899356,
+              0.8323104622621688
+            ],
+            "target_position": [
+              0.2796778815553971,
+              0.19340553930387488,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047811347630659085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1672834781769266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323104622621688,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671924426434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13733781610017984,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 249,
+            "max_placed_release_frames": 249
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f1d15b3580208bdc1139f4a3124ed1a8529a66a639e14cfaa5d51e8bb9c2776",
+    "visual_seed": 1462665772580170973,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4499c0797d30f10bf71edd4ab1bf366ac8ed300e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_49_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3060044234253342,
+              -0.128206952477638,
+              1.1651214321084384
+            ],
+            "current_z": 1.1651214321084384,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3040149240936725,
+            "gripper_z": 1.1560405288109343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000600040699901513,
+              "rod_tip_xy_max_step": 3.254847119306762e-05,
+              "rod_tip_xy_range": 0.0006000252546664981,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28306285739625514,
+            -0.4141966817754291,
+            1.0434930631461532
+          ],
+          "object_origin_world": [
+            0.28306285739625514,
+            -0.4141966817754291,
+            1.0434930631461532
+          ],
+          "frame_world": [
+            0.28306170885044335,
+            -0.4142080355181735,
+            1.043359193686369
+          ],
+          "center_minus_frame": [
+            1.1485458117910241e-06,
+            1.1353742744357742e-05,
+            0.00013386945978410836
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27287513729279717,
+              0.15240788409948605,
+              0.8322748528522343
+            ],
+            "target_position": [
+              0.2858813923971202,
+              0.1991833535914096,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048550048589353634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16808072476808225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322748528522343,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673285192622,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1373324541436899,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c0698e6e6d9530c02e4c6c84cedc0e1917e477dba27beff214328e6061450f4",
+    "visual_seed": 4865514471179433026,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..099eeed97e65f18288d4ac3ab20e704bf5f38f91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_4_success.json
@@ -0,0 +1,2014 @@
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+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6119b528934d004c24c1e8ac43071e1e2cf6195
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+            "active_arm": null,
+            "object_position": [
+              0.30377331572755406,
+              -0.12801871385352784,
+              1.1641864098759607
+            ],
+            "current_z": 1.1641864098759607,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3030799614658395,
+            "gripper_z": 1.1552559145706776,
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+            "virtual_attach_allowed": false,
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+              -0.13238017204492292,
+              1.1552559145706776
+            ],
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+              0.004062556950174545,
+              0.004361458191395079,
+              0.008930495305283115
+            ],
+            "object_to_gripper_xy": 0.005960426706931202,
+            "object_to_gripper_z": 0.008930495305283115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30377331572755406,
+              -0.15137953409835883,
+              1.1641864098759607
+            ],
+            "finger_b": [
+              0.29356543775426247,
+              -0.12801871385352784,
+              1.1641864098759607
+            ],
+            "finger_midpoint": [
+              0.29866937674090827,
+              -0.13969912397594333,
+              1.1641864098759607
+            ],
+            "object_minus_finger_midpoint": [
+              0.005103938986645795,
+              0.011680410122415497,
+              0.0
+            ],
+            "finger_gap": 0.025493699127998613,
+            "fingertip_max_gap": 0.0930007088601574,
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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": 1.1641864098759607,
+            "object_top_z": 1.2143652605973556,
+            "finger_top_clearance": 0.05017885072139494,
+            "fingertip_min_top_clearance": 0.015053655216418514,
+            "object_projection_between_fingers": 0.8396735311388119,
+            "object_to_finger_line_xy": 0.009353856465393832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049000354430078705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0914393829711937,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28454296576561083,
+              -0.4108790174123046,
+              0.8515395548721332
+            ],
+            "target_position": [
+              0.27869766018550673,
+              -0.4114016524001844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005868623744571825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823119639631985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395548721332,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514501820065969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556608831506583,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15128853580225213,
+            "release_required_pad_clearance": 0.05278304415753292,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.6142097670210495,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.00876164436340332,
+            "max_z_decrease": 0.00876164436340332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504467582229979,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00876164436340332,
+            "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": 0.020885514909466375,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00876164436340332,
+            "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": 0.008761879425178443,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.46766310930252064,
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+            "button_final": [
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+            "closest_ee": [
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+              -0.46761745214462275,
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+            "min_active_finger_to_button": 0.1441400153055783,
+            "closest_active_finger": [
+              0.008918747305870056,
+              -0.5297683477401733,
+              0.8105463981628418
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+              -0.4676609635353087,
+              0.7762818336486816
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12547890841960904,
+              -0.06210738420486461,
+              0.034264564514160156
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+            "min_contact_pad_to_button": 0.020885514909466375,
+            "closest_contact_pad": [
+              0.13444268703460693,
+              -0.4679629767470191,
+              0.7889298701330526
+            ],
+            "closest_contact_pad_button": [
+              0.13444268703460693,
+              -0.46761745214462275,
+              0.7680472135543823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000345524602396341,
+              0.020882656578670278
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36e581aeab226c3bd6f70bfd487f1fbdee404b21980efc8f3e5d5d6b8bcc1d84",
+    "visual_seed": 5123991836999329842,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56df35ff09fd7284be1fafaeaaff760b124c3d0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_53_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 53,
+  "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": [
+              0.3028780649928512,
+              -0.12462188152436002,
+              1.1657221582244712
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+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30461565020970527,
+            "gripper_z": 1.1566181612900932,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1288988851506273,
+              1.1566181612900932
+            ],
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+              0.0038515743429499705,
+              0.0042770036262672895,
+              0.009103996934378022
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+            "object_to_gripper_xy": 0.005755639403087553,
+            "object_to_gripper_z": 0.009103996934378022,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3028780649928512,
+              -0.1477923264712168,
+              1.1657221582244712
+            ],
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+              0.2927457819889263,
+              -0.12462188152436002,
+              1.1657221582244712
+            ],
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+              0.29781192349088875,
+              -0.1362071039977884,
+              1.1657221582244712
+            ],
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+              0.00506614150196244,
+              0.011585222473428386,
+              0.0
+            ],
+            "finger_gap": 0.02528898333082897,
+            "fingertip_max_gap": 0.09245672014255765,
+            "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": 1.215927693782385,
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+            "fingertip_min_top_clearance": 0.015061660667374153,
+            "object_projection_between_fingers": 0.8394715979054899,
+            "object_to_finger_line_xy": 0.009283469503584765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872836007127883,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6725156676634212,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28843271313881197,
+              -0.40332051191751767,
+              0.8515395834930957
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+            "target_position": [
+              0.2807394880985894,
+              -0.4046995244216804,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007815842053556659,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18490949335045448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395834930957,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522003518749715,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153632647344976,
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+            "release_gap_ok": false,
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+            "object_tilt_deg": 0.05595289623196448,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501679212655584,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008495211601257324,
+            "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": 0.020836241228170932,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008495211601257324,
+            "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": 0.008495480494619288,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+              -0.4609329998493194,
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+            "min_active_finger_to_button": 0.14662877627177956,
+            "closest_active_finger": [
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+              -0.5235233306884766,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12810274958610532,
+              -0.06256380677223211,
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+            "min_contact_pad_to_button": 0.020836241228170932,
+            "closest_contact_pad": [
+              0.1365009397268295,
+              -0.46094111710928865,
+              0.7891498859635621
+            ],
+            "closest_contact_pad_button": [
+              0.1365009397268295,
+              -0.4609329998493194,
+              0.7683136463165283
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.117259969242507e-06,
+              0.02083623964703374
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "156c84a54e64c88db1d13319b4051a5d9fd32c63f681970ce1a4162cced94790",
+    "visual_seed": 6768692811538326039,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5104056fe6dc3cbc25ecef63272c67dbe9d6b5ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3026365137828901,
+              -0.13204638273808117,
+              1.165677495863636
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+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30457092824422527,
+            "gripper_z": 1.156733906232069,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.13652018793847953,
+              1.156733906232069
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+              0.004158289268833049,
+              0.004473805200398362,
+              0.00894358963156705
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+            "object_to_gripper_z": 0.00894358963156705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3026365137828901,
+              -0.15540859597874143,
+              1.165677495863636
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+              -0.13204638273808117,
+              1.165677495863636
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+              0.2974388094681457,
+              -0.1437274893584113,
+              1.165677495863636
+            ],
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+              0.011681106620330117,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009497602408711378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866711457610813,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.453529463269756,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2842165627863061,
+              -0.40914652156814246,
+              0.8515396184735915
+            ],
+            "target_position": [
+              0.27598306273968787,
+              -0.4106570372378055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008370912770179827,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18721835606847523,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396184735915,
+            "min_z": 0.5774145980897916,
+            "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_min_pad_clearance": 0.15615423440717985,
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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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034961826215296025,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008679568767547607,
+            "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": 0.020846924924466177,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008679568767547607,
+            "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": 0.00867966113304258,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.14750154979095814,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.013081192970275768,
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+            "min_contact_pad_to_button": 0.020846924924466177,
+            "closest_contact_pad": [
+              0.13175521790981287,
+              -0.4680841486087839,
+              0.7891785312018408
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+            "closest_contact_pad_button": [
+              0.13175521790981287,
+              -0.46690210700035084,
+              0.7683651447296143
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0011820416084330487,
+              0.020813386472226525
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4e1683bfe8ed0ef79e965a0a04f3d4933e9743a7e41a460f2be7231452b4040",
+    "visual_seed": 1506203299390749227,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e1f3cdcd63ed39f3bde36c4462c22637790846
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_55_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.1670267414987885
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+            "lift_margin": 0.3059202930886672,
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+              -0.13438655192624727,
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+              0.004220928685445685,
+              0.009251102841553394
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+              1.1670267414987885
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+              -0.14169160047023183,
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+              0.011525977229430245,
+              0.0
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+              0.0,
+              1.0
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+            "stable_success_frames": 343,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              -0.41111063722876684,
+              0.8515395678561448
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+              -0.41232736692169614,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388545576836343,
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+            "min_z": 0.5774145980897916,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
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+          "metrics": {
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+            "ee_contact_ok": true,
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+            "max_contacted_z_stable_frames": 80,
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+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0088004469871521,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008800598598275738,
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+              -0.4685872495174408,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.01294708251953125,
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+            "min_contact_pad_to_button": 0.021043837403304063,
+            "closest_contact_pad": [
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+              -0.471259545960409,
+              0.7888758066664048
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+            "closest_contact_pad_button": [
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+              -0.46854019165039057,
+              0.7680084109306335
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+            "closest_contact_pad_minus_button": [
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+              -0.002719354310018407,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea2f302bb14871b20bcd940ae2159abb30daaec968c870f633d21d7eeb74317d",
+    "visual_seed": 2211478631001837749,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76f18ac0c980a6f70a21da97d8bf8812b759f6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_58_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30533085527129405,
+              -0.13352842197383685,
+              1.1643372633821796
+            ],
+            "current_z": 1.1643372633821796,
+            "required_z": 0.8611063292008316,
+            "initial_z": 0.7611063292008317,
+            "lift_margin": 0.30323093418134794,
+            "gripper_z": 1.15537702192055,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30130301776817237,
+              -0.13782365724196688,
+              1.15537702192055
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+              0.0040278375031216895,
+              0.0042952352681300265,
+              0.008960241461629659
+            ],
+            "object_to_gripper_xy": 0.005888337707718672,
+            "object_to_gripper_z": 0.008960241461629659,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30533085527129405,
+              -0.1568293273254894,
+              1.1643372633821796
+            ],
+            "finger_b": [
+              0.29519386987490936,
+              -0.13352842197383685,
+              1.1643372633821796
+            ],
+            "finger_midpoint": [
+              0.3002623625731017,
+              -0.14517887464966311,
+              1.1643372633821796
+            ],
+            "object_minus_finger_midpoint": [
+              0.005068492698192373,
+              0.011650452675826262,
+              0.0
+            ],
+            "finger_gap": 0.025410443977490576,
+            "fingertip_max_gap": 0.0929050163635354,
+            "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": 1.1643372633821796,
+            "object_top_z": 1.2145123697022762,
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+            "fingertip_min_top_clearance": 0.015052531896028974,
+            "object_projection_between_fingers": 0.8408549499107122,
+            "object_to_finger_line_xy": 0.009295427403058328,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048952508181767704,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1300545440754677,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "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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+              ],
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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,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28559480491557054,
+              -0.40873040201970257,
+              0.8515395736569206
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+            "target_position": [
+              0.2790041519827754,
+              -0.40973330488548093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00666652234967736,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821427011890165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395736569206,
+            "min_z": 0.5774145980897916,
+            "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": 0.0852556723461884,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15070779882278917,
+            "release_required_pad_clearance": 0.0526278361730942,
+            "release_pad_clearance_ok": true,
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+            "object_tilt_deg": 0.3165175552409007,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00871056318283081,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503629329311294,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00871056318283081,
+            "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": 0.020884579537879516,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00871056318283081,
+            "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": 0.008710806398366995,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.46599477529525746,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_button": [
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+              -0.4659518003463744,
+              0.7680982947349548
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+            "min_active_finger_to_button": 0.14436069890124628,
+            "closest_active_finger": [
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+              -0.5286337733268738,
+              0.8106445670127869
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+            "closest_active_finger_button": [
+              0.13470441102981567,
+              -0.4659924507141112,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12546033412218094,
+              -0.06264132261276256,
+              0.034289658069610596
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+            "min_contact_pad_to_button": 0.020884579537879516,
+            "closest_contact_pad": [
+              0.13475297391414642,
+              -0.4659717366541671,
+              0.7889828647572859
+            ],
+            "closest_contact_pad_button": [
+              0.13475297391414642,
+              -0.4659518003463744,
+              0.7680982947349548
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.993630779267841e-05,
+              0.020884570022331017
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b603bb1acf90f207b7f252c13f5afa4476d79268b4451ceb86e17eddf766d51",
+    "visual_seed": 80134404419700233,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6183a4e04bafb847da7e01cee154ab9badcbfb17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3063347384815529,
+              -0.1302165593037364,
+              1.1665353114382482
+            ],
+            "current_z": 1.1665353114382482,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.30542874381883767,
+            "gripper_z": 1.1573277303679121,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3025619782556871,
+              -0.1344307708775897,
+              1.1573277303679121
+            ],
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+              0.003772760225865812,
+              0.004214211573853294,
+              0.009207581070336035
+            ],
+            "object_to_gripper_xy": 0.005656261920303382,
+            "object_to_gripper_z": 0.009207581070336035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3063347384815529,
+              -0.15342239470634422,
+              1.1665353114382482
+            ],
+            "finger_b": [
+              0.29638255780834893,
+              -0.1302165593037364,
+              1.1665353114382482
+            ],
+            "finger_midpoint": [
+              0.30135864814495095,
+              -0.14181947700504033,
+              1.1665353114382482
+            ],
+            "object_minus_finger_midpoint": [
+              0.004976090336601957,
+              0.011602917701303922,
+              0.0
+            ],
+            "finger_gap": 0.025249885086570608,
+            "fingertip_max_gap": 0.09275093826611461,
+            "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": 1.1665353114382482,
+            "object_top_z": 1.2166926008329173,
+            "finger_top_clearance": 0.050157289394669125,
+            "fingertip_min_top_clearance": 0.01504718681840077,
+            "object_projection_between_fingers": 0.8446476985717288,
+            "object_to_finger_line_xy": 0.00914652347159468,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048875469133057306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8479180886137685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2805064696515539,
+              -0.410510879691537,
+              0.8515396018673499
+            ],
+            "target_position": [
+              0.2749347928198811,
+              -0.41098529180767923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005591837763431817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18049712746157937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396018673499,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556797714212686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708025327070458,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14836503069303453,
+            "release_required_pad_clearance": 0.05354012663535229,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.091725125903884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008639991283416748,
+            "max_z_decrease": 0.008639991283416748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501385308563471,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008639991283416748,
+            "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": 0.020875590903028596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008639991283416748,
+            "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": 0.008640183510472504,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.46724674105644215,
+              0.7768088579177856
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.46721172332763666,
+              0.7681688666343689
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+            "min_active_finger_to_button": 0.14526437384283994,
+            "closest_active_finger": [
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+              -0.5286389589309692,
+              0.8106753826141357
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+            "closest_active_finger_button": [
+              0.130634993314743,
+              -0.46724447607994074,
+              0.7763822674751282
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271079778671264,
+              -0.0613944828510285,
+              0.03429311513900757
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+            "min_contact_pad_to_button": 0.020875590903028596,
+            "closest_contact_pad": [
+              0.13068050146102902,
+              -0.46721172332763666,
+              0.7890444575373975
+            ],
+            "closest_contact_pad_button": [
+              0.13068050146102902,
+              -0.46721172332763666,
+              0.7681688666343689
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020875590903028596
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78483fa07ab8e3a047b4a9f8b5f7cbbc35f084e6474e7e7cd030355aac16fe00",
+    "visual_seed": 5287518258441684673,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0985506a7e64f6a7fadd157c67b4e862b4474152
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_5_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+            "active_arm": null,
+            "object_position": [
+              0.31109085891297017,
+              -0.12923162760285462,
+              1.163481884851663
+            ],
+            "current_z": 1.163481884851663,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3023754960461865,
+            "gripper_z": 1.154520868562314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30689876256268134,
+              -0.13360271621715242,
+              1.154520868562314
+            ],
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+              0.004192096350288832,
+              0.004371088614297802,
+              0.008961016289348978
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+            "object_to_gripper_xy": 0.006056408794339169,
+            "object_to_gripper_z": 0.008961016289348978,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31109085891297017,
+              -0.15267309218809413,
+              1.163481884851663
+            ],
+            "finger_b": [
+              0.3008355472751584,
+              -0.12923162760285462,
+              1.163481884851663
+            ],
+            "finger_midpoint": [
+              0.3059632030940643,
+              -0.1409523598954744,
+              1.163481884851663
+            ],
+            "object_minus_finger_midpoint": [
+              0.005127655818905896,
+              0.011720732292619773,
+              0.0
+            ],
+            "finger_gap": 0.0255865917755702,
+            "fingertip_max_gap": 0.09277394769075012,
+            "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": 1.163481884851663,
+            "object_top_z": 1.2136448660647017,
+            "finger_top_clearance": 0.05016298121303864,
+            "fingertip_min_top_clearance": 0.015048894363911557,
+            "object_projection_between_fingers": 0.8393529170148742,
+            "object_to_finger_line_xy": 0.00939552741830551,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888697384537506,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0711734139460316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "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_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2880228970024434,
+              -0.4122647663767684,
+              0.8515395550588925
+            ],
+            "target_position": [
+              0.28180384542938364,
+              -0.41316014610059054,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006283176530880592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383790338329362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395550588925,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756502995923499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682718374093311,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144349920859296,
+            "release_required_pad_clearance": 0.053413591870466556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8417971990793636,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020651073267704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008823931217193604,
+            "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,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008823931217193604,
+            "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": 0.008824195128918138,
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+            "button_start": [
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+            "button_final": [
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+            "closest_button": [
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+              -0.529137134552002,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.05971878767013561,
+              0.03416752815246582
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+            "min_contact_pad_to_button": 0.02084997063550934,
+            "closest_contact_pad": [
+              0.13755600154399872,
+              -0.4694302454816548,
+              0.7888348310402902
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+            "closest_contact_pad_button": [
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+              -0.4693776667118072,
+              0.767984926700592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.2578769847599904e-05,
+              0.020849904339698133
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4a318bbfd22913fc95a0157fcdb05474b07f54b7e5839fa1e26fb41bafae66b",
+    "visual_seed": 8435244786105301757,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1718e28954dcb91d5a1485136ede466af970460b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_60_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
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+              -0.12894258834737396,
+              1.1641243394216403
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+            "current_z": 1.1641243394216403,
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+            "lift_margin": 0.30301795061616366,
+            "gripper_z": 1.1550161064048345,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3003950254516018,
+              -0.13316819219526982,
+              1.1550161064048345
+            ],
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+              0.003899680477395029,
+              0.004225603847895859,
+              0.009108233016805745
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+            "object_to_gripper_z": 0.009108233016805745,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.1522708083456498,
+              1.1641243394216403
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+            "finger_b": [
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+              1.1641243394216403
+            ],
+            "finger_midpoint": [
+              0.2993360496815263,
+              -0.14060669834651188,
+              1.1641243394216403
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+            "object_minus_finger_midpoint": [
+              0.00495865624747055,
+              0.011664109999137917,
+              0.0
+            ],
+            "finger_gap": 0.025348746229552903,
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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": 1.214230367040833,
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+            "fingertip_min_top_clearance": 0.015031808285757807,
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+            "object_to_finger_line_xy": 0.009126812252509485,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8733882153040975,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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": [],
+              "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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+          }
+        },
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28123264811237664,
+              -0.41261497783164713,
+              0.851539558125196
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+            "target_position": [
+              0.2748567195151895,
+              -0.4134657808517157,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006432443645721808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18298469659609684,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539558125196,
+            "min_z": 0.5774145980897916,
+            "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": 0.15177919034838275,
+            "release_required_pad_clearance": 0.052649670780356234,
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+            "object_tilt_deg": 0.3582735767416892,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.008808612823486328,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498996817324849,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008808612823486328,
+            "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": 0.020940508927915543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008808612823486328,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00880887529459067,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.46972724795341486,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.013446003198623602,
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+            "min_contact_pad_to_button": 0.020940508927915543,
+            "closest_contact_pad": [
+              0.13060632348060602,
+              -0.47118816097429506,
+              0.7888864325178822
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+            "closest_contact_pad_button": [
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+              -0.4696808159351349,
+              0.7680002450942993
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015073450391601684,
+              0.020886187423582836
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85e8ccd813228f2783a66ec4cff5540b74aefdf9640996e38dbfd662b4966ca2",
+    "visual_seed": 4871427840329430238,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e406a3bfe0c17b0a05d7c27fc85efbff1b14d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30443890489057274,
+              -0.1318494897473538,
+              1.1675327325755238
+            ],
+            "current_z": 1.1675327325755238,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30642628416540274,
+            "gripper_z": 1.158362758020462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3006979518012098,
+              -0.13600105244256533,
+              1.158362758020462
+            ],
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+              0.003740953089362953,
+              0.004151562695211525,
+              0.009169974555061744
+            ],
+            "object_to_gripper_xy": 0.005588398950422759,
+            "object_to_gripper_z": 0.009169974555061744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30443890489057274,
+              -0.15504591983647256,
+              1.1675327325755238
+            ],
+            "finger_b": [
+              0.2946180260740988,
+              -0.1318494897473538,
+              1.1675327325755238
+            ],
+            "finger_midpoint": [
+              0.2995284654823358,
+              -0.14344770479191318,
+              1.1675327325755238
+            ],
+            "object_minus_finger_midpoint": [
+              0.004910439408236933,
+              0.011598215044559379,
+              0.0
+            ],
+            "finger_gap": 0.02518976041186657,
+            "fingertip_max_gap": 0.09291853593710739,
+            "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": 1.1675327325755238,
+            "object_top_z": 1.217678216139541,
+            "finger_top_clearance": 0.05014548356401716,
+            "fingertip_min_top_clearance": 0.015043645069205146,
+            "object_projection_between_fingers": 0.8479968350645964,
+            "object_to_finger_line_xy": 0.00904372749701609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048959267968553696,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.137556644175389,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2860794147061126,
+              -0.4038715460471348,
+              0.8515395782490617
+            ],
+            "target_position": [
+              0.28000321866030486,
+              -0.4047297038190881,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006136496814034314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825864014934277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395782490617,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584351378710724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749020605816048,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15000475478822592,
+            "release_required_pad_clearance": 0.05374510302908024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4992098965781735,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008612990379333496,
+            "max_z_decrease": 0.008612990379333496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503371364182805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008612990379333496,
+            "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": 0.02094390834210067,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008612990379333496,
+            "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": 0.00861315676235659,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4609911739826202,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.46094769239425654,
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+            "min_active_finger_to_button": 0.14427679824426792,
+            "closest_active_finger": [
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+              -0.4448238015174866,
+              0.8107123970985413
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+              0.13570277392864227,
+              -0.46098938584327687,
+              0.7763997912406921
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13920170068740845,
+              0.016165584325790294,
+              0.03431260585784912
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+            "min_contact_pad_to_button": 0.02094390834210067,
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c94303264e12997ecddd2d7dd243222322632ced68db078f0338b43b97598d4",
+    "visual_seed": 1931809472109864046,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de30706d85a0b3b257095c7572cff277fee71b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30685528211629365,
+              -0.1290928356222926,
+              1.1645102431311956
+            ],
+            "current_z": 1.1645102431311956,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3034036755117846,
+            "gripper_z": 1.1556096339897546,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3026460802026032,
+              -0.13355607863941008,
+              1.1556096339897546
+            ],
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+              0.004209201913690452,
+              0.00446324301711748,
+              0.008900609141440974
+            ],
+            "object_to_gripper_xy": 0.006134975059449167,
+            "object_to_gripper_z": 0.008900609141440974,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30685528211629365,
+              -0.15254787634088743,
+              1.1645102431311956
+            ],
+            "finger_b": [
+              0.29646951718768866,
+              -0.1290928356222926,
+              1.1645102431311956
+            ],
+            "finger_midpoint": [
+              0.30166239965199115,
+              -0.14082035598159,
+              1.1645102431311956
+            ],
+            "object_minus_finger_midpoint": [
+              0.005192882464302495,
+              0.011727520359297416,
+              0.0
+            ],
+            "finger_gap": 0.02565157009352806,
+            "fingertip_max_gap": 0.0922473823639893,
+            "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": 1.1645102431311956,
+            "object_top_z": 1.2145946099381022,
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+            "fingertip_min_top_clearance": 0.015025310042071959,
+            "object_projection_between_fingers": 0.8360735357731979,
+            "object_to_finger_line_xy": 0.009496437777726708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862369118199465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.495279504494353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28631217955650645,
+              -0.4119796768772823,
+              0.8515395634571664
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+            "target_position": [
+              0.27983022905749244,
+              -0.41315485674528635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006587619448164105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846334825915823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395634571664,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564690750430357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859195034438087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15223929390387705,
+            "release_required_pad_clearance": 0.052959751721904355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.955307556178709,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008752942085266113,
+            "max_z_decrease": 0.008752942085266113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500164548286196,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008752942085266113,
+            "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": 0.020857631532409913,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008752942085266113,
+            "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": 0.00875325181414563,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.46941632032394404,
+              0.7768088579177856
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+            "button_final": [
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+              -0.46941632032394404,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+              0.7680559158325195
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+            "min_active_finger_to_button": 0.14703655136778956,
+            "closest_active_finger": [
+              0.006357960402965546,
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+              0.8104754090309143
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+            "closest_active_finger_button": [
+              0.1355307251214981,
+              -0.4694154560565948,
+              0.7762554287910461
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67abd487b0aa6e0fcf35f3591f6f28fa83a18c86b5dcf14f8f4bfa4344c1bd82",
+    "visual_seed": 7602011079854280341,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a1bd99aa119f4d71f490df809f890426dc19264
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_63_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30343341181710964,
+              -0.131278218419284,
+              1.1673486947895841
+            ],
+            "current_z": 1.1673486947895841,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30624224637946296,
+            "gripper_z": 1.1583078051616884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2994571777630096,
+              -0.1356153437341852,
+              1.1583078051616884
+            ],
+            "object_minus_gripper": [
+              0.003976234054100025,
+              0.0043371253149012134,
+              0.009040889627895732
+            ],
+            "object_to_gripper_xy": 0.005883969174812328,
+            "object_to_gripper_z": 0.009040889627895732,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30343341181710964,
+              -0.15454480151147157,
+              1.1673486947895841
+            ],
+            "finger_b": [
+              0.29324879720427866,
+              -0.131278218419284,
+              1.1673486947895841
+            ],
+            "finger_midpoint": [
+              0.2983411045106942,
+              -0.14291150996537777,
+              1.1673486947895841
+            ],
+            "object_minus_finger_midpoint": [
+              0.005092307306415467,
+              0.011633291546093771,
+              0.0
+            ],
+            "finger_gap": 0.02539803660910739,
+            "fingertip_max_gap": 0.09267949608281531,
+            "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": 1.1673486947895841,
+            "object_top_z": 1.2175879344256049,
+            "finger_top_clearance": 0.05023923963602073,
+            "fingertip_min_top_clearance": 0.015071771890806251,
+            "object_projection_between_fingers": 0.8391989389744777,
+            "object_to_finger_line_xy": 0.009329901590360276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883974804140766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7896166106283165,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "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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+      },
+      "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28332352967967706,
+              -0.4126165122045451,
+              0.8515396393807424
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+            "target_position": [
+              0.27628283507442647,
+              -0.41414929635262826,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007205609465480331,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18535808815432792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396393807424,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589455256298165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722886660287398,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15258826191348873,
+            "release_required_pad_clearance": 0.05361443330143699,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.239200883798532,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008783221244812012,
+            "max_z_decrease": 0.008783221244812012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501936316710414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008783221244812012,
+            "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": 0.02103222110805516,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008783221244812012,
+            "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": 0.008783361740522563,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.47041076421737665,
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+            "min_active_finger_to_button": 0.14572743127381121,
+            "closest_active_finger": [
+              -0.00868406891822815,
+              -0.45394518971443176,
+              0.8105823993682861
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e5142ff32abeb83c10ae3e8cf4c551bbc82a73c5faaf02aac7dd6e9661c95b9",
+    "visual_seed": 1652945877964616521,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d30362b5c95709f0ede17da35433d4bd922be096
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_64_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.309956445165157,
+              -0.1279662106005135,
+              1.166987863069549
+            ],
+            "current_z": 1.166987863069549,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30588141465942753,
+            "gripper_z": 1.1579833270871964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30579685247014465,
+              -0.13246855513007627,
+              1.1579833270871964
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+              0.004159592695012371,
+              0.004502344529562774,
+              0.009004535982352513
+            ],
+            "object_to_gripper_xy": 0.006129707794934773,
+            "object_to_gripper_z": 0.009004535982352513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.309956445165157,
+              -0.15132966937612455,
+              1.166987863069549
+            ],
+            "finger_b": [
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+              -0.1279662106005135,
+              1.166987863069549
+            ],
+            "finger_midpoint": [
+              0.30469702790435027,
+              -0.13964793998831904,
+              1.166987863069549
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052594172608067535,
+              0.01168172938780554,
+              0.0
+            ],
+            "finger_gap": 0.02562219907917283,
+            "fingertip_max_gap": 0.09221087079621523,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012811099539586429,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166987863069549,
+            "object_top_z": 1.2171238943843803,
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+            "fingertip_min_top_clearance": 0.015040809394449406,
+            "object_projection_between_fingers": 0.8314602119169027,
+            "object_to_finger_line_xy": 0.009591540365204489,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860543539810762,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.387859619422946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2822269514356353,
+              -0.41086972518612225,
+              0.8515396300320234
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+            "target_position": [
+              0.2751420805643464,
+              -0.41215290998496384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007200136005022129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350884093535155,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396300320234,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532829459024101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496532544382186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15220346254536155,
+            "release_required_pad_clearance": 0.05248266272191093,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.03956468176411286,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008845090866088867,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035035275685262324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008845090866088867,
+            "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": 0.021092879636844857,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008845090866088867,
+            "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": 0.008845324750104886,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 304,
+            "max_placed_release_frames": 304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2dc0f9cbf90577f4a17c39430d3a855d70dcf6dfebb463d3c4f5d9f98b49a831",
+    "visual_seed": 2208195731553615531,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f19d196dd6146cf50d1dd19e063ff34d7d5715
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_66_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3066330465458924,
+              -0.13232367545055415,
+              1.1674559558534967
+            ],
+            "current_z": 1.1674559558534967,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30634944783873064,
+            "gripper_z": 1.1583438419948113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30272731741231906,
+              -0.13651666729452766,
+              1.1583438419948113
+            ],
+            "object_minus_gripper": [
+              0.0039057291335733435,
+              0.004192991843973509,
+              0.009112113858685378
+            ],
+            "object_to_gripper_xy": 0.005730261832453378,
+            "object_to_gripper_z": 0.009112113858685378,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3066330465458924,
+              -0.15572075206782454,
+              1.1674559558534967
+            ],
+            "finger_b": [
+              0.29683573386259593,
+              -0.13232367545055415,
+              1.1674559558534967
+            ],
+            "finger_midpoint": [
+              0.3017343902042442,
+              -0.14402221375918933,
+              1.1674559558534967
+            ],
+            "object_minus_finger_midpoint": [
+              0.004898656341648211,
+              0.011698538308635181,
+              0.0
+            ],
+            "finger_gap": 0.02536553823692103,
+            "fingertip_max_gap": 0.0926230687775347,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012682769118460493,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1674559558534967,
+            "object_top_z": 1.2175693200939188,
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+            "fingertip_min_top_clearance": 0.015034009272126635,
+            "object_projection_between_fingers": 0.8508147887989705,
+            "object_to_finger_line_xy": 0.009037004196535699,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048811534388767355,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9094960093406628,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2892867733062642,
+              -0.4080020679759244,
+              0.8515395572126436
+            ],
+            "target_position": [
+              0.2830715366069969,
+              -0.4090205414945058,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062981311145426455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537268524810988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395572126436,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758920455617831,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701411104728866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15250745697263202,
+            "release_required_pad_clearance": 0.053507055523644334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0263407655660215,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008840620517730713,
+            "max_z_decrease": 0.008840620517730713,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504494432225787,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008840620517730713,
+            "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": 0.02092435026459549,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008840620517730713,
+            "contact_point_contacted_z_ok": true,
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+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04843322208973122,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16905404290599269,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323545617557297,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671727540388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13875266161405622,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b579aa0babfc51cf72f4db424f9145ee7809260c7fbdd4c8410783f2f1a6688",
+    "visual_seed": 1345674067141042713,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e311b3283a166a0cffed129cf2c77aa827dae7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3033029018083828,
+              -0.12516739431298943,
+              1.1661520488309893
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+            "current_z": 1.1661520488309893,
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+            "lift_margin": 0.30504566002551314,
+            "gripper_z": 1.157304229136053,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991055627773105,
+              -0.12956406353283784,
+              1.157304229136053
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+              0.0041973390310723335,
+              0.004396669219848409,
+              0.00884781969493642
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+            "object_to_gripper_z": 0.00884781969493642,
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+            "finger_a": [
+              0.3033029018083828,
+              -0.14880565280159455,
+              1.1661520488309893
+            ],
+            "finger_b": [
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+              -0.12516739431298943,
+              1.1661520488309893
+            ],
+            "finger_midpoint": [
+              0.2982795038002954,
+              -0.136986523557292,
+              1.1661520488309893
+            ],
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+              0.005023398008087432,
+              0.011819129244302562,
+              0.0
+            ],
+            "finger_gap": 0.02568473037749743,
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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": 0.00924630150763408,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3133767808401493,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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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+            },
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2874615026033556,
+              -0.4053317512797986,
+              0.8515395786150618
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+            "target_position": [
+              0.2817000816439611,
+              -0.4057961024009477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005780103237405278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18103747829462233,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395786150618,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543150117107464,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863164980720708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14928723784902517,
+            "release_required_pad_clearance": 0.0531582490360354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.3411278178964234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008542060852050781,
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+            "object_position": [
+              0.274010136737834,
+              0.14491908982466817,
+              0.8331264126072188
+            ],
+            "target_position": [
+              0.2833705831480651,
+              0.1922838929935698,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04828087132838017,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17088080262381086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331264126072188,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670317742249,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1394746586675458,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4961fd76606eea9b4c91425f1aebbad685676bf8b54b97e010d342e8522fb182",
+    "visual_seed": 3506798056381201750,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..163492ade05e2e791f016e77588f24b9d0b1105a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_69_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30153330590287647,
+              -0.12790101715425736,
+              1.1633500148388807
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+            "current_z": 1.1633500148388807,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3022434472194697,
+            "gripper_z": 1.1545222820053467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29736927194127244,
+              -0.13226760976265933,
+              1.1545222820053467
+            ],
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+              0.00416403396160403,
+              0.00436659260840197,
+              0.008827732833533997
+            ],
+            "object_to_gripper_xy": 0.006033764151932231,
+            "object_to_gripper_z": 0.008827732833533997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30153330590287647,
+              -0.1515291894971292,
+              1.1633500148388807
+            ],
+            "finger_b": [
+              0.2915675824865607,
+              -0.12790101715425736,
+              1.1633500148388807
+            ],
+            "finger_midpoint": [
+              0.29655044419471854,
+              -0.13971510332569329,
+              1.1633500148388807
+            ],
+            "object_minus_finger_midpoint": [
+              0.004982861708157926,
+              0.011814086171435922,
+              0.0
+            ],
+            "finger_gap": 0.025643833010588705,
+            "fingertip_max_gap": 0.0923847839988807,
+            "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": 1.2135308650241405,
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+            "fingertip_min_top_clearance": 0.015054255055577958,
+            "object_projection_between_fingers": 0.8489739793838191,
+            "object_to_finger_line_xy": 0.00918239602889604,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869239199944035,
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+            "object_tilt_deg": 1.5312963261558885,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": []
+          }
+        },
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2894450479213285,
+              -0.4077048756891718,
+              0.8515395693081469
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+            "target_position": [
+              0.28313045007600995,
+              -0.40870764745833954,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006393723263415593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18251224301693975,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395693081469,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758651384033063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694650973011907,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14981445589994122,
+            "release_required_pad_clearance": 0.053473254865059536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9595743392356118,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2739751086310436,
+              0.1512928263860924,
+              0.832997353490641
+            ],
+            "target_position": [
+              0.28405642161686784,
+              0.1985932295181107,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04836280603903785,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16832295553212745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832997353490641,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668123784755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13713780021544386,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04188d8a07d1ea55022f4a305c24e2d8782db9a39f5438f8ff0ff87ed4f97b32",
+    "visual_seed": 7082854471681955248,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8199f90bc6964cac2a6362ab1ba2bb444e5ce962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_6_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3091940122430682,
+              -0.13209538360608494,
+              1.1647007062532495
+            ],
+            "current_z": 1.1647007062532495,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.303594317447773,
+            "gripper_z": 1.1556413918215818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3052473915418844,
+              -0.13633378962639492,
+              1.1556413918215818
+            ],
+            "object_minus_gripper": [
+              0.0039466207011837895,
+              0.004238406020309976,
+              0.009059314431667742
+            ],
+            "object_to_gripper_xy": 0.005791364308348446,
+            "object_to_gripper_z": 0.009059314431667742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3091940122430682,
+              -0.15537583829224041,
+              1.1647007062532495
+            ],
+            "finger_b": [
+              0.2991521662850287,
+              -0.13209538360608494,
+              1.1647007062532495
+            ],
+            "finger_midpoint": [
+              0.30417308926404846,
+              -0.14373561094916268,
+              1.1647007062532495
+            ],
+            "object_minus_finger_midpoint": [
+              0.005020922979019737,
+              0.011640227343077736,
+              0.0
+            ],
+            "finger_gap": 0.025353860468164055,
+            "fingertip_max_gap": 0.09295791817061169,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012676930234082028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647007062532495,
+            "object_top_z": 1.214815957851123,
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+            "fingertip_min_top_clearance": 0.0150345754793621,
+            "object_projection_between_fingers": 0.8431303533877114,
+            "object_to_finger_line_xy": 0.009220636836944003,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897895908530585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.272588488471132,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28442948382878214,
+              -0.40768046215874487,
+              0.8515395551554098
+            ],
+            "target_position": [
+              0.27802449160361453,
+              -0.4085857268130273,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064686497430878525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841994294934728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395551554098,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754287837999556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603907559847117,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15247443962632132,
+            "release_required_pad_clearance": 0.053019537799235586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0711770175813213,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28566900658914773,
+            -0.4079616858065041,
+            1.0432836072794374
+          ],
+          "object_origin_world": [
+            0.28566900658914773,
+            -0.4079616858065041,
+            1.0432836072794374
+          ],
+          "frame_world": [
+            0.28566767053377484,
+            -0.40797252211359303,
+            1.04315113416748
+          ],
+          "center_minus_frame": [
+            1.336055372891387e-06,
+            1.0836307088923913e-05,
+            0.00013247311195740963
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2690493081120658,
+              0.1473552509896943,
+              0.8323133461123414
+            ],
+            "target_position": [
+              0.28046886863604353,
+              0.1938461216252319,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04787282543375818,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1671317490388482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323133461123414,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671303340077,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1357396569830866,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18b74f66c593431b24d5b39e4015ac9e60630fa1fadcfea378ac358fe5024990",
+    "visual_seed": 99969839146089809,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37381b940d686e2f55dd1945ddfbf263ddc7560f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_70_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30883897596312937,
+              -0.1289568775448618,
+              1.1635208160454997
+            ],
+            "current_z": 1.1635208160454997,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30241424842608877,
+            "gripper_z": 1.1545051822545218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3046281045086593,
+              -0.13321762745206517,
+              1.1545051822545218
+            ],
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+              0.004210871454470078,
+              0.004260749907203376,
+              0.009015633790977917
+            ],
+            "object_to_gripper_xy": 0.005990444739566882,
+            "object_to_gripper_z": 0.009015633790977917,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30883897596312937,
+              -0.15267212719663417,
+              1.1635208160454997
+            ],
+            "finger_b": [
+              0.299052436077424,
+              -0.1289568775448618,
+              1.1635208160454997
+            ],
+            "finger_midpoint": [
+              0.3039457060202767,
+              -0.140814502370748,
+              1.1635208160454997
+            ],
+            "object_minus_finger_midpoint": [
+              0.004893269942852663,
+              0.011857624825886204,
+              0.0
+            ],
+            "finger_gap": 0.025655202766308283,
+            "fingertip_max_gap": 0.09230189815276599,
+            "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": 1.1635208160454997,
+            "object_top_z": 1.2135369928903368,
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+            "fingertip_min_top_clearance": 0.015004853053451117,
+            "object_projection_between_fingers": 0.8544851091229613,
+            "object_to_finger_line_xy": 0.00904651733726788,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048650949076382996,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6791030269129372,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2867774095440054,
+              -0.4105765582390377,
+              0.8515396287358258
+            ],
+            "target_position": [
+              0.2803514703662764,
+              -0.411628984735433,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006511550955508774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276338285310983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287358258,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568134841204882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723187835791611,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15050243284767303,
+            "release_required_pad_clearance": 0.05361593917895806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.241995602650796,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28572754486401425,
+            -0.4112178033308678,
+            1.0434316246449697
+          ],
+          "object_origin_world": [
+            0.28572754486401425,
+            -0.4112178033308678,
+            1.0434316246449697
+          ],
+          "frame_world": [
+            0.2857264426072842,
+            -0.41122905138729227,
+            1.043298203654817
+          ],
+          "center_minus_frame": [
+            1.1022567300567054e-06,
+            1.1248056424439934e-05,
+            0.00013342099015267728
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2718391314409658,
+              0.14667770646891642,
+              0.8327620098497942
+            ],
+            "target_position": [
+              0.2823383633373811,
+              0.1937362533319646,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821556494822399,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17027326563400424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327620098497942,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671010521365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13909926827672042,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3295439c012c8e76048e11aef4648b4460d674b7a9d380662a4a6bbf458ff3d3",
+    "visual_seed": 4014948938514103468,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..058de6758da6f13071a0f4087f911b5126c9950d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_71_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 71,
+  "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": [
+              0.3080595811691387,
+              -0.1302020098197821,
+              1.1657884713896913
+            ],
+            "current_z": 1.1657884713896913,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30468196337492515,
+            "gripper_z": 1.1565855001050123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3041337028686668,
+              -0.1344628388991686,
+              1.1565855001050123
+            ],
+            "object_minus_gripper": [
+              0.003925878300471863,
+              0.004260829079386491,
+              0.009202971284679062
+            ],
+            "object_to_gripper_xy": 0.0057937194334780635,
+            "object_to_gripper_z": 0.009202971284679062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3080595811691387,
+              -0.15354616396370796,
+              1.1657884713896913
+            ],
+            "finger_b": [
+              0.29806651512556637,
+              -0.1302020098197821,
+              1.1657884713896913
+            ],
+            "finger_midpoint": [
+              0.3030630481473525,
+              -0.14187408689174502,
+              1.1657884713896913
+            ],
+            "object_minus_finger_midpoint": [
+              0.004996533021786154,
+              0.01167207707196291,
+              0.0
+            ],
+            "finger_gap": 0.0253931270552992,
+            "fingertip_max_gap": 0.0921786625175143,
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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": 1.1657884713896913,
+            "object_top_z": 1.215883952863361,
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+            "fingertip_min_top_clearance": 0.015028644442100846,
+            "object_projection_between_fingers": 0.8451307682667971,
+            "object_to_finger_line_xy": 0.009186724958433246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048589331258757154,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4894248417229712,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2905642494575168,
+              -0.40591118053311903,
+              0.8515395794716315
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+            "target_position": [
+              0.28349180772379867,
+              -0.4070649281775568,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007165930902812526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852544812829686,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794716315,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515964304470156,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583919717454751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15415589326647872,
+            "release_required_pad_clearance": 0.052919598587273756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8775892412301862,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2915572366227969,
+            -0.4076229259382035,
+            1.0434419177115009
+          ],
+          "object_origin_world": [
+            0.2915572366227969,
+            -0.4076229259382035,
+            1.0434419177115009
+          ],
+          "frame_world": [
+            0.29155622203226333,
+            -0.4076341132977043,
+            1.0433064817273654
+          ],
+          "center_minus_frame": [
+            1.014590533587878e-06,
+            1.1187359500841598e-05,
+            0.00013543598413545688
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27721442692663684,
+              0.15276546407777736,
+              0.8337532127982169
+            ],
+            "target_position": [
+              0.2861196617634814,
+              0.1998504050415425,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0479196710449957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1718742519730612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337532127982169,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567064911842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13993231660338923,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c076065e0c377ada885810824aa6ffdba688eacd962fe914a5f64bbaf52682da",
+    "visual_seed": 765238210272900700,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da31f28bacddb8031853f614a99008eb8ce897b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_72_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3023870821160328,
+              -0.1309088648870083,
+              1.1634913579961386
+            ],
+            "current_z": 1.1634913579961386,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.3023848499813723,
+            "gripper_z": 1.1546224821360296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2981296834460103,
+              -0.13531621096774477,
+              1.1546224821360296
+            ],
+            "object_minus_gripper": [
+              0.004257398670022505,
+              0.004407346080736452,
+              0.008868875860108982
+            ],
+            "object_to_gripper_xy": 0.006127817140784503,
+            "object_to_gripper_z": 0.008868875860108982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3023870821160328,
+              -0.15444433845535588,
+              1.1634913579961386
+            ],
+            "finger_b": [
+              0.2921820628619599,
+              -0.1309088648870083,
+              1.1634913579961386
+            ],
+            "finger_midpoint": [
+              0.29728457248899637,
+              -0.1426766016711821,
+              1.1634913579961386
+            ],
+            "object_minus_finger_midpoint": [
+              0.005102509627036456,
+              0.011767736784173782,
+              0.0
+            ],
+            "finger_gap": 0.025652698377800057,
+            "fingertip_max_gap": 0.09255530922969532,
+            "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": 1.1634913579961386,
+            "object_top_z": 1.2137028605190057,
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+            "object_projection_between_fingers": 0.8417435033970184,
+            "object_to_finger_line_xy": 0.009362756205271728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877765461484766,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7159631324499691,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28192020799717143,
+              -0.40574999079885155,
+              0.8515395833057674
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+            "target_position": [
+              0.27536617595915425,
+              -0.40670742604756666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006623595565162317,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847434348633615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395833057674,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564806428759477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689449856065902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15240417667668354,
+            "release_required_pad_clearance": 0.05344724928032951,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799307102367073,
+            -0.4078173622260236,
+            1.043350623073867
+          ],
+          "object_origin_world": [
+            0.2799307102367073,
+            -0.4078173622260236,
+            1.043350623073867
+          ],
+          "frame_world": [
+            0.2799295220282315,
+            -0.40782776828155404,
+            1.0432211339071327
+          ],
+          "center_minus_frame": [
+            1.1882084757774969e-06,
+            1.0406055530431946e-05,
+            0.00012948916673427568
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2738628298861115,
+              0.15088915077653348,
+              0.8325970395904748
+            ],
+            "target_position": [
+              0.28589863304910756,
+              0.19801327809483615,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048636857765381875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16865662719896962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325970395904748,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674189390166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13732772493560766,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c609dbb2e7540680185723ade0555cca56b7baa46fa546130d5d146c7697b3a",
+    "visual_seed": 5562642728439248221,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..493eedda75e7d1ac770ef0f6434cfb4fcafa57d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_73_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3055151147533744,
+              -0.1259015115860509,
+              1.1676196981281786
+            ],
+            "current_z": 1.1676196981281786,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3065131901134127,
+            "gripper_z": 1.1584046936882728,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30168307917229276,
+              -0.13020625143937536,
+              1.1584046936882728
+            ],
+            "object_minus_gripper": [
+              0.0038320355810816387,
+              0.0043047398533244685,
+              0.00921500443990575
+            ],
+            "object_to_gripper_xy": 0.005763270069975522,
+            "object_to_gripper_z": 0.00921500443990575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3055151147533744,
+              -0.14907139534231037,
+              1.1676196981281786
+            ],
+            "finger_b": [
+              0.2953606336913981,
+              -0.1259015115860509,
+              1.1676196981281786
+            ],
+            "finger_midpoint": [
+              0.3004378742223862,
+              -0.13748645346418065,
+              1.1676196981281786
+            ],
+            "object_minus_finger_midpoint": [
+              0.005077240530988181,
+              0.01158494187812975,
+              0.0
+            ],
+            "finger_gap": 0.025297371383537305,
+            "fingertip_max_gap": 0.09248411038678853,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012648685691768675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1676196981281786,
+            "object_top_z": 1.2178070045633316,
+            "finger_top_clearance": 0.05018730643515301,
+            "fingertip_min_top_clearance": 0.015056191930545903,
+            "object_projection_between_fingers": 0.8388743527883951,
+            "object_to_finger_line_xy": 0.009300497757021515,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048742055193394265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6595590209008337,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28432850245961544,
+              -0.4054864696273984,
+              0.8515395599533842
+            ],
+            "target_position": [
+              0.2770306375643771,
+              -0.4065950404599877,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007381582575574114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18521066665047614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395599533842,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754572885467692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0872741413992018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15336074971824645,
+            "release_required_pad_clearance": 0.0536370706996009,
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+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2827826870102384,
+            -0.40623725477902467,
+            1.0433156547526943
+          ],
+          "object_origin_world": [
+            0.2827826870102384,
+            -0.40623725477902467,
+            1.0433156547526943
+          ],
+          "frame_world": [
+            0.2827813436021056,
+            -0.4062479561570561,
+            1.0431849466392877
+          ],
+          "center_minus_frame": [
+            1.343408132792323e-06,
+            1.0701378031441333e-05,
+            0.00013070811340654132
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26758791298675394,
+              0.14741542948686603,
+              0.8332163747045584
+            ],
+            "target_position": [
+              0.2776950781512542,
+              0.1939703157774208,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763939782563348,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17071289882707302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332163747045584,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567083001567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13910095141191287,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff652511de260b5bcb151ef7baf9ae71e559610ed17a189b107b8a17c00ba615",
+    "visual_seed": 3878639645103378283,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a491480a28c691bca4b5e9383581801db43074f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3052364599819981,
+              -0.13174475815677955,
+              1.165808583605069
+            ],
+            "current_z": 1.165808583605069,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3047020755903027,
+            "gripper_z": 1.1567872119230573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3011918704421025,
+              -0.1361466221246096,
+              1.1567872119230573
+            ],
+            "object_minus_gripper": [
+              0.0040445895398956155,
+              0.004401863967830044,
+              0.009021371682011559
+            ],
+            "object_to_gripper_xy": 0.0059778851559321115,
+            "object_to_gripper_z": 0.009021371682011559,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052364599819981,
+              -0.15496583688757742,
+              1.165808583605069
+            ],
+            "finger_b": [
+              0.2948380266529401,
+              -0.13174475815677955,
+              1.165808583605069
+            ],
+            "finger_midpoint": [
+              0.3000372433174691,
+              -0.1433552975221785,
+              1.165808583605069
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199216664528994,
+              0.011610539365398936,
+              0.0
+            ],
+            "finger_gap": 0.0254429933993777,
+            "fingertip_max_gap": 0.0922539176194809,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01272149669968885,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165808583605069,
+            "object_top_z": 1.2159607841360387,
+            "finger_top_clearance": 0.050152200530969804,
+            "fingertip_min_top_clearance": 0.015045660159290973,
+            "object_projection_between_fingers": 0.8329681032856227,
+            "object_to_finger_line_xy": 0.009490347115246035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862695880974045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4219557327957524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28176303611490794,
+              -0.4042418704249992,
+              0.851539567019226
+            ],
+            "target_position": [
+              0.2751300731701364,
+              -0.4051941080830627,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006700966645503235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18451691219864633,
+            "gripper_away_threshold": 0.04,
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+              "rod_tip_xy_range": 0.0006009598385400796,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2826061226484382,
+            -0.4042005483140225,
+            1.043327754221709
+          ],
+          "object_origin_world": [
+            0.2826061226484382,
+            -0.4042005483140225,
+            1.043327754221709
+          ],
+          "frame_world": [
+            0.28260493602600273,
+            -0.4042108525239093,
+            1.0431976730157475
+          ],
+          "center_minus_frame": [
+            1.1866224354784016e-06,
+            1.0304209886791149e-05,
+            0.0001300812059614742
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2687439268305502,
+              0.150425557146016,
+              0.8327604447174838
+            ],
+            "target_position": [
+              0.28087038808231396,
+              0.19673093089813953,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04786688522156397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1665932045954722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327604447174838,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672465804567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1357015057229897,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4e95501a06291725b18e18968ac13109d13023df5830192e5d6ab13cfd6b2d7",
+    "visual_seed": 8114210637724509851,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b719320bb55c32876ba0e358303355c5991d966b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.3032476612146511,
+              -0.12581113176912329,
+              1.1637452877472558
+            ],
+            "current_z": 1.1637452877472558,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30263877973249,
+            "gripper_z": 1.1550004697407892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988236556403232,
+              -0.13022910694522216,
+              1.1550004697407892
+            ],
+            "object_minus_gripper": [
+              0.004424005574327872,
+              0.004417975176098876,
+              0.008744818006466648
+            ],
+            "object_to_gripper_xy": 0.006252226001858057,
+            "object_to_gripper_z": 0.008744818006466648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3032476612146511,
+              -0.14961389771303826,
+              1.1637452877472558
+            ],
+            "finger_b": [
+              0.29316033728838475,
+              -0.12581113176912329,
+              1.1637452877472558
+            ],
+            "finger_midpoint": [
+              0.2982039992515179,
+              -0.13771251474108076,
+              1.1637452877472558
+            ],
+            "object_minus_finger_midpoint": [
+              0.005043661963133161,
+              0.011901382971957475,
+              0.0
+            ],
+            "finger_gap": 0.02585199741943016,
+            "fingertip_max_gap": 0.09193852040294895,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012925998709715067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637452877472558,
+            "object_top_z": 1.213828501597606,
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+            "fingertip_min_top_clearance": 0.015024964155105024,
+            "object_projection_between_fingers": 0.8477477474705215,
+            "object_to_finger_line_xy": 0.009287723749999656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048469260201474476,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.29661562734584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2912083765863062,
+              -0.40509243355741753,
+              0.8515395639499893
+            ],
+            "target_position": [
+              0.28452632598932626,
+              -0.40632314344774695,
+              0.8084375599031817
+            ],
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+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006022009410291451,
+              "rod_tip_xy_max_step": 3.2660496446920515e-05,
+              "rod_tip_xy_range": 0.0006021928775520005,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2895308712309745,
+            -0.4072644548063293,
+            1.043457503987809
+          ],
+          "object_origin_world": [
+            0.2895308712309745,
+            -0.4072644548063293,
+            1.043457503987809
+          ],
+          "frame_world": [
+            0.2895297611461747,
+            -0.40727529910873583,
+            1.043323504401305
+          ],
+          "center_minus_frame": [
+            1.1100847998046781e-06,
+            1.0844302406554096e-05,
+            0.00013399958650395227
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2667972841105643,
+              0.1476053850545126,
+              0.8322710019179258
+            ],
+            "target_position": [
+              0.2785423247345286,
+              0.19424847082434676,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04809910008919791,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16866828104166368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322710019179258,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674696566248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1382821329680413,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe7e325fd2030f0df80f323ad8f106c3aa99204a5b0fddd65950713f91b89fa6",
+    "visual_seed": 764636611874249372,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..173f1c1758f39ae7c697dec6a93e49860f731d7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_76_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3014904204198565,
+              -0.1269086547998732,
+              1.1672877518541536
+            ],
+            "current_z": 1.1672877518541536,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3061812438393876,
+            "gripper_z": 1.1582595853591886,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29750849080200575,
+              -0.13126498252226965,
+              1.1582595853591886
+            ],
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+              0.003981929617850766,
+              0.004356327722396441,
+              0.009028166494964962
+            ],
+            "object_to_gripper_xy": 0.005901978880548194,
+            "object_to_gripper_z": 0.009028166494964962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3014904204198565,
+              -0.1501368626027637,
+              1.1672877518541536
+            ],
+            "finger_b": [
+              0.29122643304255696,
+              -0.1269086547998732,
+              1.1672877518541536
+            ],
+            "finger_midpoint": [
+              0.2963584267312067,
+              -0.13852275870131847,
+              1.1672877518541536
+            ],
+            "object_minus_finger_midpoint": [
+              0.005131993688649805,
+              0.011614103901445266,
+              0.0
+            ],
+            "finger_gap": 0.025394863154103192,
+            "fingertip_max_gap": 0.09248692512235393,
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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": 1.1672877518541536,
+            "object_top_z": 1.217542142509824,
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+            "fingertip_min_top_clearance": 0.015076317196701149,
+            "object_projection_between_fingers": 0.8366419785232987,
+            "object_to_finger_line_xy": 0.009388277867039331,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874346256117697,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6362301813170508,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
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+                "rod_tip_xy_delta": [
+                  0.000111482199225299,
+                  1.5304787674197406e-05
+                ],
+                "rod_tip_xy": [
+                  0.28634149353719407,
+                  -0.4040020353372592
+                ],
+                "target_mouth_xy": [
+                  0.28623001133796877,
+                  -0.4040173401249334
+                ],
+                "gripper_position": [
+                  0.286333427339895,
+                  -0.40400671366761115,
+                  1.0016616392946731
+                ],
+                "rod_tip_xy_dist": 0.00011252785108523811,
+                "target_xy_drift": 5.837804964787775e-08,
+                "depth": 0.019452964063692124,
+                "bottom_clearance": 0.07998761348945183,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006059454224556943,
+              "rod_tip_xy_max_step": 3.283661733639872e-05,
+              "rod_tip_xy_range": 0.0006059385655464841,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2859185543824368,
+            -0.4053816336480116,
+            1.0435024367862398
+          ],
+          "object_origin_world": [
+            0.2859185543824368,
+            -0.4053816336480116,
+            1.0435024367862398
+          ],
+          "frame_world": [
+            0.2859173409826403,
+            -0.4053924749040898,
+            1.043370477449176
+          ],
+          "center_minus_frame": [
+            1.2133997964736132e-06,
+            1.0841256078197858e-05,
+            0.00013195933706366958
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27299873996009494,
+              0.14712150846832714,
+              0.8326663517161703
+            ],
+            "target_position": [
+              0.28523547339947725,
+              0.19310791043041475,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04758662428335501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16872086228840286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326663517161703,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672693636173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13795591826943832,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a356e0693ffcc61b8245b42cf23a6c47f23a89942a8f3a55c404e8f590cb9bb",
+    "visual_seed": 1729322623605662531,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7079a441623f3d50a1080843068eeb048f37494
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_77_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3037124902287021,
+              -0.12569544733291207,
+              1.164979107890444
+            ],
+            "current_z": 1.164979107890444,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3038726594803226,
+            "gripper_z": 1.1561583365014079,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.299371493772821,
+              -0.130029761766613,
+              1.1561583365014079
+            ],
+            "object_minus_gripper": [
+              0.0043409964558810965,
+              0.004334314433700914,
+              0.00882077138903603
+            ],
+            "object_to_gripper_xy": 0.0061343729785659695,
+            "object_to_gripper_z": 0.00882077138903603,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3037124902287021,
+              -0.14946235102064384,
+              1.164979107890444
+            ],
+            "finger_b": [
+              0.2937769274780271,
+              -0.12569544733291207,
+              1.164979107890444
+            ],
+            "finger_midpoint": [
+              0.29874470885336457,
+              -0.13757889917677796,
+              1.164979107890444
+            ],
+            "object_minus_finger_midpoint": [
+              0.004967781375337543,
+              0.011883451843865883,
+              0.0
+            ],
+            "finger_gap": 0.025760068285517395,
+            "fingertip_max_gap": 0.09226054368338418,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012880034142758708,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164979107890444,
+            "object_top_z": 1.2150843743123496,
+            "finger_top_clearance": 0.050105266421905714,
+            "fingertip_min_top_clearance": 0.01503157992657168,
+            "object_projection_between_fingers": 0.8512383723951658,
+            "object_to_finger_line_xy": 0.009166806561280254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048630271841692094,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5177434691229392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "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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+                "depth": 0.01904058247609053,
+                "bottom_clearance": 0.08040005650936244,
+                "inserted": true,
+                "centered": true
+              },
+              {
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+                  -0.0007444806859376318,
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+                "rod_tip_xy": [
+                  0.2839235833407532,
+                  -0.40983679806099416
+                ],
+                "target_mouth_xy": [
+                  0.2846680640266908,
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+                ],
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+                  0.2839134442588228,
+                  -0.40984770790579467,
+                  1.0015212971160967
+                ],
+                "rod_tip_xy_dist": 0.0009649138460192218,
+                "target_xy_drift": 5.9040895689979164e-08,
+                "depth": 0.019571406203698016,
+                "bottom_clearance": 0.079869127292022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007546198491859557,
+                  -0.0006247564141981243
+                ],
+                "rod_tip_xy": [
+                  0.2839134442588227,
+                  -0.4098477079057947
+                ],
+                "target_mouth_xy": [
+                  0.28466806410800866,
+                  -0.4092229514915966
+                ],
+                "gripper_position": [
+                  0.2839271409763795,
+                  -0.4099308548364526,
+                  1.0009052450835234
+                ],
+                "rod_tip_xy_dist": 0.0009796793832000002,
+                "target_xy_drift": 5.93397435104249e-08,
+                "depth": 0.019738551455349196,
+                "bottom_clearance": 0.07970198190714561,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005986169907309422,
+              "rod_tip_xy_max_step": 3.2495257481445324e-05,
+              "rod_tip_xy_range": 0.0005986085159932575,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28348079169037727,
+            -0.4113201351935993,
+            1.0434234961211368
+          ],
+          "object_origin_world": [
+            0.28348079169037727,
+            -0.4113201351935993,
+            1.0434234961211368
+          ],
+          "frame_world": [
+            0.2835044342627693,
+            -0.4113153421352519,
+            1.043713102218875
+          ],
+          "center_minus_frame": [
+            -2.364257239201306e-05,
+            -4.793058347385415e-06,
+            -0.0002896060977382042
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.267647485098263,
+              0.14779893337169195,
+              0.8330280549374325
+            ],
+            "target_position": [
+              0.27840938935041826,
+              0.19426230094568347,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047693428367526734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16793292646954439,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330280549374325,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670320388693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13654550535930343,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7bea7acaf5cc4a5a9490a9b22f7cc4cd0c7ce8abca8aaaa8a9e0ccc7e3466d1",
+    "visual_seed": 1305424552193822960,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d7b33ee78f6feb4f6c0b0301dac17efffd726e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_78_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3089951726224873,
+              -0.1265389645927285,
+              1.1640360901327989
+            ],
+            "current_z": 1.1640360901327989,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30292964172267756,
+            "gripper_z": 1.1548708689870393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30507228274738646,
+              -0.13082210995356508,
+              1.1548708689870393
+            ],
+            "object_minus_gripper": [
+              0.003922889875100866,
+              0.004283145360836571,
+              0.009165221145759572
+            ],
+            "object_to_gripper_xy": 0.005808132157090154,
+            "object_to_gripper_z": 0.009165221145759572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3089951726224873,
+              -0.14982705932168422,
+              1.1640360901327989
+            ],
+            "finger_b": [
+              0.2988925197562776,
+              -0.1265389645927285,
+              1.1640360901327989
+            ],
+            "finger_midpoint": [
+              0.30394384618938247,
+              -0.13818301195720636,
+              1.1640360901327989
+            ],
+            "object_minus_finger_midpoint": [
+              0.005051326433104852,
+              0.011644047364477855,
+              0.0
+            ],
+            "finger_gap": 0.02538501430056619,
+            "fingertip_max_gap": 0.0922065104334486,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012692507150283095,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640360901327989,
+            "object_top_z": 1.2141437005130138,
+            "finger_top_clearance": 0.05010761038021494,
+            "fingertip_min_top_clearance": 0.015032283114064515,
+            "object_projection_between_fingers": 0.8416142751777885,
+            "object_to_finger_line_xy": 0.009268127020783262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486032552167243,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5258724571684323,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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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+              },
+              {
+                "frame": 405,
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+                  0.001842342153224208
+                ],
+                "rod_tip_xy": [
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+                  -0.4056291729422913
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+                  0.29138349902340155,
+                  -0.4056334937373763,
+                  1.001753267172077
+                ],
+                "rod_tip_xy_dist": 0.002137065049050833,
+                "target_xy_drift": 4.5616225036623275e-08,
+                "depth": 0.0193586097070918,
+                "bottom_clearance": 0.08008199545507744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010752291099742628,
+                  0.0018380851401863518
+                ],
+                "rod_tip_xy": [
+                  0.29138349902340166,
+                  -0.40563349373737634
+                ],
+                "target_mouth_xy": [
+                  0.2903082699134274,
+                  -0.4074715788775627
+                ],
+                "gripper_position": [
+                  0.29137546569513517,
+                  -0.405638214892472,
+                  1.001604820001745
+                ],
+                "rod_tip_xy_dist": 0.00212947754660854,
+                "target_xy_drift": 6.053224113866413e-08,
+                "depth": 0.01950659464727067,
+                "bottom_clearance": 0.07993397934056634,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006005664919842467,
+              "rod_tip_xy_max_step": 3.26724220336173e-05,
+              "rod_tip_xy_range": 0.0006005592524287668,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2910187867953297,
+            -0.40706793924528284,
+            1.0434690844749834
+          ],
+          "object_origin_world": [
+            0.2910187867953297,
+            -0.40706793924528284,
+            1.0434690844749834
+          ],
+          "frame_world": [
+            0.29101763397961894,
+            -0.40707906461078286,
+            1.043334182550319
+          ],
+          "center_minus_frame": [
+            1.1528157107809633e-06,
+            1.1125365500019857e-05,
+            0.00013490192466436568
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27109598358920906,
+              0.15027967568108236,
+              0.8324940492575573
+            ],
+            "target_position": [
+              0.2827538966610007,
+              0.1968391719087048,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047996808499726734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16763942917099964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324940492575573,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670492000194,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362785610005389,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "923616d8d94f4d700365da0e29d42243c6c8ec1b89258703314d605273b1fd89",
+    "visual_seed": 1663807908577438484,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63eba0a1ada4b315825ef800e123fbedc8cbb046
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_79_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3107874868335202,
+              -0.13252815141967245,
+              1.165849269247571
+            ],
+            "current_z": 1.165849269247571,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30474282083744986,
+            "gripper_z": 1.1567390991250917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3067244423240103,
+              -0.1367449456484635,
+              1.1567390991250917
+            ],
+            "object_minus_gripper": [
+              0.004063044509509894,
+              0.004216794228791065,
+              0.009110170122479389
+            ],
+            "object_to_gripper_xy": 0.005855739428477341,
+            "object_to_gripper_z": 0.009110170122479389,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3107874868335202,
+              -0.15609422394264194,
+              1.165849269247571
+            ],
+            "finger_b": [
+              0.301005332483012,
+              -0.13252815141967245,
+              1.165849269247571
+            ],
+            "finger_midpoint": [
+              0.3058964096582661,
+              -0.1443111876811572,
+              1.165849269247571
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048910771752541105,
+              0.011783036261484747,
+              0.0
+            ],
+            "finger_gap": 0.02551568768218926,
+            "fingertip_max_gap": 0.09241917277079467,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01275784384109463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165849269247571,
+            "object_top_z": 1.2159308939646742,
+            "finger_top_clearance": 0.0500816247171032,
+            "fingertip_min_top_clearance": 0.01502448741513096,
+            "object_projection_between_fingers": 0.8530212779151181,
+            "object_to_finger_line_xy": 0.009034714710662988,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870958638539734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6781647146548282,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "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_joint2",
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+              },
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+                "rod_tip_xy": [
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+                "depth": 0.019387250912941245,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  0.0008484511852927534
+                ],
+                "rod_tip_xy": [
+                  0.28583502923047127,
+                  -0.41172687317843387
+                ],
+                "target_mouth_xy": [
+                  0.28780208405194546,
+                  -0.4125753243637266
+                ],
+                "gripper_position": [
+                  0.2858272385688432,
+                  -0.4117318481611649,
+                  1.0015558164172569
+                ],
+                "rod_tip_xy_dist": 0.002142235767722483,
+                "target_xy_drift": 9.69359496483869e-08,
+                "depth": 0.019556604383767606,
+                "bottom_clearance": 0.07988395500096113,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005997053694451368,
+              "rod_tip_xy_max_step": 3.262593848609426e-05,
+              "rod_tip_xy_range": 0.0005996945803539918,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.285328883468646,
+            -0.41312769434036506,
+            1.0434981864527515
+          ],
+          "object_origin_world": [
+            0.285328883468646,
+            -0.41312769434036506,
+            1.0434981864527515
+          ],
+          "frame_world": [
+            0.2853279160975776,
+            -0.41313900706601026,
+            1.043363911942259
+          ],
+          "center_minus_frame": [
+            9.673710683610892e-07,
+            1.1312725645196142e-05,
+            0.0001342745104924159
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2756824859968243,
+              0.1465154031676649,
+              0.8327631952158993
+            ],
+            "target_position": [
+              0.2858817181764662,
+              0.19399414631064132,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04856187174616494,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1689266795142389,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327631952158993,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667884668358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13773136720579277,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bda94070d2749e55500ca0fa616b76ad9ea08a404a72e4dd4623b36f20a1ff74",
+    "visual_seed": 800539648015551327,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7e3745fa8b30d56f4fbc9223d516b275a7bc160
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_7_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.3059753862022332,
+              -0.1317437428343406,
+              1.1664360539778478
+            ],
+            "current_z": 1.1664360539778478,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30532966517237137,
+            "gripper_z": 1.1574184686276578,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020803997753895,
+              -0.1360310889785002,
+              1.1574184686276578
+            ],
+            "object_minus_gripper": [
+              0.003894986426843716,
+              0.004287346144159598,
+              0.009017585350189927
+            ],
+            "object_to_gripper_xy": 0.005792430942629955,
+            "object_to_gripper_z": 0.009017585350189927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3059753862022332,
+              -0.1549277869224267,
+              1.1664360539778478
+            ],
+            "finger_b": [
+              0.2958162122497932,
+              -0.1317437428343406,
+              1.1664360539778478
+            ],
+            "finger_midpoint": [
+              0.30089579922601317,
+              -0.14333576487838365,
+              1.1664360539778478
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050795869762200185,
+              0.011592022044043054,
+              0.0
+            ],
+            "finger_gap": 0.025312224629104717,
+            "fingertip_max_gap": 0.0930033818155083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01265611231455237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664360539778478,
+            "object_top_z": 1.216615854345408,
+            "finger_top_clearance": 0.0501798003675602,
+            "fingertip_min_top_clearance": 0.01505394011026806,
+            "object_projection_between_fingers": 0.8389146067923825,
+            "object_to_finger_line_xy": 0.009305019225417434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900169090775415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1805437284710334,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "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",
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+              },
+              {
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+                "depth": 0.01926602595757576,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014667216747699108,
+                  0.002412964126029038
+                ],
+                "rod_tip_xy": [
+                  0.292303551454385,
+                  -0.4099254149062081
+                ],
+                "target_mouth_xy": [
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+                  -0.41233837903223713
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+                "gripper_position": [
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+                  -0.40993042630114984,
+                  1.0016932566586711
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+                "rod_tip_xy_dist": 0.002823768465144218,
+                "target_xy_drift": 8.982708547735871e-08,
+                "depth": 0.019416506680491108,
+                "bottom_clearance": 0.0800240015366821,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006055126967030246,
+              "rod_tip_xy_max_step": 3.294431496674309e-05,
+              "rod_tip_xy_range": 0.0006054949952030691,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2919542743307406,
+            -0.4113547189829984,
+            1.043333343721962
+          ],
+          "object_origin_world": [
+            0.2919542743307406,
+            -0.4113547189829984,
+            1.043333343721962
+          ],
+          "frame_world": [
+            0.2919775828818273,
+            -0.4113514589157473,
+            1.0436167205478881
+          ],
+          "center_minus_frame": [
+            -2.3308551086675955e-05,
+            -3.2600672510985085e-06,
+            -0.0002833768259260516
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27772128158771536,
+              0.14966494641632308,
+              0.833900907061508
+            ],
+            "target_position": [
+              0.2866041404872728,
+              0.19731157635342228,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0484675822235061,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17130144044496912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833900907061508,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667009396392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395892085311722,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae579e55fa7d2abaa0b362b3456a1585cc311393d68d0704d200a529197f93ae",
+    "visual_seed": 2711919527968552998,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b3a31b5119ba7b83b62169e3ab6b0b8a032aff7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_80_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.3016180328396453,
+              -0.1263955923407155,
+              1.1666039317998247
+            ],
+            "current_z": 1.1666039317998247,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30549748338970373,
+            "gripper_z": 1.1574741372043016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29783425457809093,
+              -0.1306776611773317,
+              1.1574741372043016
+            ],
+            "object_minus_gripper": [
+              0.003783778261554349,
+              0.004282068836616193,
+              0.0091297945955231
+            ],
+            "object_to_gripper_xy": 0.0057142883593786905,
+            "object_to_gripper_z": 0.0091297945955231,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3016180328396453,
+              -0.1494538865380972,
+              1.1666039317998247
+            ],
+            "finger_b": [
+              0.2914178259532627,
+              -0.1263955923407155,
+              1.1666039317998247
+            ],
+            "finger_midpoint": [
+              0.296517929396454,
+              -0.13792473943940636,
+              1.1666039317998247
+            ],
+            "object_minus_finger_midpoint": [
+              0.005100103443191284,
+              0.01152914709869085,
+              0.0
+            ],
+            "finger_gap": 0.025213669939499347,
+            "fingertip_max_gap": 0.09283548265197841,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012606834969749674,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666039317998247,
+            "object_top_z": 1.216853005465315,
+            "finger_top_clearance": 0.05024907366549036,
+            "fingertip_min_top_clearance": 0.015074722099647109,
+            "object_projection_between_fingers": 0.8363387612044089,
+            "object_to_finger_line_xy": 0.009328248201262756,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891774132598921,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7668385392689743,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "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",
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+                "depth": 0.019364184322651745,
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+                "centered": true
+              },
+              {
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+                "rod_tip_xy": [
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+                  -0.4079878663816181
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+                "target_mouth_xy": [
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+                  1.0016072520211377
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+                "rod_tip_xy_dist": 0.0014870163940196258,
+                "target_xy_drift": 6.747320748691187e-08,
+                "depth": 0.019508214186827355,
+                "bottom_clearance": 0.0799323052252977,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006004423922979577,
+              "rod_tip_xy_max_step": 3.264930049060572e-05,
+              "rod_tip_xy_range": 0.0006004359636922731,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2816398050598161,
+            -0.40937802592870887,
+            1.0432926151559836
+          ],
+          "object_origin_world": [
+            0.2816398050598161,
+            -0.40937802592870887,
+            1.0432926151559836
+          ],
+          "frame_world": [
+            0.2816387131473467,
+            -0.40938857184152544,
+            1.0431613576611072
+          ],
+          "center_minus_frame": [
+            1.091912469441958e-06,
+            1.0545912816573022e-05,
+            0.00013125749487641336
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27104613292038693,
+              0.15195647389869849,
+              0.8319261228592136
+            ],
+            "target_position": [
+              0.2831280561795978,
+              0.19859872665534994,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04818166260992683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16992731456952934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319261228592136,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671534592586,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13984116773777722,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c45362c4c17f1a2bbb84e4eb53d0ab52969eff528cec6567bbc1c173687fcefb",
+    "visual_seed": 4461739206092368924,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c277da7cd87d6fc66d00aa6a3104198eb02d8eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31054529902825956,
+              -0.12987834103117868,
+              1.16471137726501
+            ],
+            "current_z": 1.16471137726501,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.303604869250244,
+            "gripper_z": 1.1557399249189504,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30634609377230776,
+              -0.1341693105318178,
+              1.1557399249189504
+            ],
+            "object_minus_gripper": [
+              0.004199205255951799,
+              0.004290969500639119,
+              0.00897145234605956
+            ],
+            "object_to_gripper_xy": 0.006003810792907147,
+            "object_to_gripper_z": 0.00897145234605956,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31054529902825956,
+              -0.15356737202737802,
+              1.16471137726501
+            ],
+            "finger_b": [
+              0.30069043886958813,
+              -0.12987834103117868,
+              1.16471137726501
+            ],
+            "finger_midpoint": [
+              0.30561786894892384,
+              -0.14172285652927835,
+              1.16471137726501
+            ],
+            "object_minus_finger_midpoint": [
+              0.004927430079335715,
+              0.011844515498099673,
+              0.0
+            ],
+            "finger_gap": 0.025657132698060064,
+            "fingertip_max_gap": 0.09226568317324521,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012828566349030032,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16471137726501,
+            "object_top_z": 1.2147975342852386,
+            "finger_top_clearance": 0.05008615702022867,
+            "fingertip_min_top_clearance": 0.015025847106068635,
+            "object_projection_between_fingers": 0.8524685226901004,
+            "object_to_finger_line_xy": 0.009098915709300175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863284158662261,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+                "depth": 0.019195627927312553,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                "rod_tip_xy": [
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+                ],
+                "target_mouth_xy": [
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+                "gripper_position": [
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+                  1.001371853314116
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+                "target_xy_drift": 2.8269591422583476e-08,
+                "depth": 0.01972462864227198,
+                "bottom_clearance": 0.07971595680532262,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006033152292810205,
+              "rod_tip_xy_max_step": 3.260268036545538e-05,
+              "rod_tip_xy_range": 0.0006033049485749052,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2815407832940013,
+            -0.4051471051791326,
+            1.0433430387581375
+          ],
+          "object_origin_world": [
+            0.2815407832940013,
+            -0.4051471051791326,
+            1.0433430387581375
+          ],
+          "frame_world": [
+            0.28153959748939084,
+            -0.40515734791516295,
+            1.0432134101937063
+          ],
+          "center_minus_frame": [
+            1.185804610448482e-06,
+            1.0242736030341426e-05,
+            0.00012962856443121673
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27486942057918634,
+              0.1463119786341827,
+              0.8336979536826515
+            ],
+            "target_position": [
+              0.2844486936992366,
+              0.19414484531793824,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04878263634424086,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17086816992488774,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336979536826515,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667797503864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392900171119498,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1af2eaf0e3de5f3d27b78736c985298296e8593c23df2c42bede97dcb61f7de",
+    "visual_seed": 2244076754353323162,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff197c99cadfa76b6f7633136c66306e48e2599
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "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,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3087922730055497,
+              -0.13226651733520045,
+              1.1676288304267435
+            ],
+            "current_z": 1.1676288304267435,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3065223820166225,
+            "gripper_z": 1.1586045694098592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3046743130248512,
+              -0.1366513047467568,
+              1.1586045694098592
+            ],
+            "object_minus_gripper": [
+              0.004117959980698471,
+              0.004384787411556346,
+              0.00902426101688425
+            ],
+            "object_to_gripper_xy": 0.006015310054118337,
+            "object_to_gripper_z": 0.00902426101688425,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3087922730055497,
+              -0.1556530313142974,
+              1.1676288304267435
+            ],
+            "finger_b": [
+              0.29852342952109123,
+              -0.13226651733520045,
+              1.1676288304267435
+            ],
+            "finger_midpoint": [
+              0.30365785126332046,
+              -0.14395977432474893,
+              1.1676288304267435
+            ],
+            "object_minus_finger_midpoint": [
+              0.005134421742229223,
+              0.011693256989548484,
+              0.0
+            ],
+            "finger_gap": 0.025541694982964644,
+            "fingertip_max_gap": 0.09248507136321113,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012770847491482334,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1676288304267435,
+            "object_top_z": 1.217777403416587,
+            "finger_top_clearance": 0.05014857298984343,
+            "fingertip_min_top_clearance": 0.015044571896953029,
+            "object_projection_between_fingers": 0.838361935882661,
+            "object_to_finger_line_xy": 0.009402369414348499,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              },
+              {
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+                "rod_tip_xy": [
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+                  1.0015822583934342
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+                "depth": 0.019530958514618724,
+                "bottom_clearance": 0.0799095891832925,
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+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006016759186297737,
+              "rod_tip_xy_max_step": 3.268686326633785e-05,
+              "rod_tip_xy_range": 0.000601665137482592,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28568183428463073,
+            -0.4105873558263944,
+            1.0434839461987362
+          ],
+          "object_origin_world": [
+            0.28568183428463073,
+            -0.4105873558263944,
+            1.0434839461987362
+          ],
+          "frame_world": [
+            0.28568071132018735,
+            -0.4105986686448223,
+            1.0433501300215346
+          ],
+          "center_minus_frame": [
+            1.1229644433785602e-06,
+            1.1312818427922089e-05,
+            0.00013381617720154004
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27414914990128547,
+              0.14722562489846627,
+              0.8324479180437275
+            ],
+            "target_position": [
+              0.28650262157297973,
+              0.19324584526879696,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04764943803736988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16700938769245335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324479180437275,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672243953185,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13685004489447575,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca4f8b873ec09f9792f46e11df1cb454de05fe0a3c60c8d9c7122296e422f65c",
+    "visual_seed": 6448658022291224016,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e9d6d8d2842a8310c04b9a08fe8ba67d0c59486
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_8_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30114206863504606,
+              -0.13059630148189144,
+              1.1660097750396663
+            ],
+            "current_z": 1.1660097750396663,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3049032670249002,
+            "gripper_z": 1.156950575719411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2971596595641206,
+              -0.13485625722498296,
+              1.156950575719411
+            ],
+            "object_minus_gripper": [
+              0.003982409070925452,
+              0.004259955743091515,
+              0.00905919932025534
+            ],
+            "object_to_gripper_xy": 0.005831535384552485,
+            "object_to_gripper_z": 0.00905919932025534,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30114206863504606,
+              -0.1540331115501291,
+              1.1660097750396663
+            ],
+            "finger_b": [
+              0.29124799737690027,
+              -0.13059630148189144,
+              1.1660097750396663
+            ],
+            "finger_midpoint": [
+              0.29619503300597316,
+              -0.14231470651601028,
+              1.1660097750396663
+            ],
+            "object_minus_finger_midpoint": [
+              0.004947035629072893,
+              0.011718405034118834,
+              0.0
+            ],
+            "finger_gap": 0.02543966808423241,
+            "fingertip_max_gap": 0.09259521306837545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012719834042116206,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660097750396663,
+            "object_top_z": 1.2161592329134239,
+            "finger_top_clearance": 0.050149457873757575,
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006062598751037877,
+              "rod_tip_xy_max_step": 3.269609087616647e-05,
+              "rod_tip_xy_range": 0.0006062495276075568,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28970025795734394,
+            -0.4134115453886636,
+            1.0433291814242005
+          ],
+          "object_origin_world": [
+            0.28970025795734394,
+            -0.4134115453886636,
+            1.0433291814242005
+          ],
+          "frame_world": [
+            0.2897235985797056,
+            -0.4134083613002222,
+            1.0436132279281924
+          ],
+          "center_minus_frame": [
+            -2.3340622361645025e-05,
+            -3.184088441410271e-06,
+            -0.00028404650399194153
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2721029448146947,
+              0.15184116041386903,
+              0.8323017992881754
+            ],
+            "target_position": [
+              0.283661676916012,
+              0.19875017896592378,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0483121134841671,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1697059224809602,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323017992881754,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670577951572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13982827433068268,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c61f30d8cf7c469cc46a56c173d3e99d47308ab8a2f3905db2004af720c9f94",
+    "visual_seed": 6012001098603842009,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "700096036bfca2d08247736b712268e61c5697fccd6c3aa719adcf121e685e7b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68eebdc247a671f8585091216769579bd4a1813
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.30368681319563234,
+              -0.12630312932905768,
+              1.164312258605599
+            ],
+            "current_z": 1.164312258605599,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.303205810195478,
+            "gripper_z": 1.1552157253952304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29981643128318985,
+              -0.1305982371968567,
+              1.1552157253952304
+            ],
+            "object_minus_gripper": [
+              0.0038703819124424887,
+              0.0042951078677990195,
+              0.009096533210368518
+            ],
+            "object_to_gripper_xy": 0.005781678626851462,
+            "object_to_gripper_z": 0.009096533210368518,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30368681319563234,
+              -0.14958436323959978,
+              1.164312258605599
+            ],
+            "finger_b": [
+              0.2936294296005504,
+              -0.12630312932905768,
+              1.164312258605599
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+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint2",
+                "joint3",
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+                "joint6",
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+                "lift2",
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+                "mobile_translate_y",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
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+      }
+    },
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+      "reason": "executed",
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+                "rod_rack"
+              ],
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+                "/World/test_tube_rack"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
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+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
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+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
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+      6590206372818194557,
+      3957288070049760871,
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+    "workflow_spec_digest": "ece73cb04814a6e361873d7812a8e8e534e712f1b05e3e58243bb4b4e05cd457",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af43816291efc28643be673411063dedf5b45a26d33b14c18f740ae79ea36d3e",
+    "visual_seed": 7372625826252181927,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      6590206372818194557,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/summary.json
new file mode 100644
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+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00030/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00030",
+  "family": "lab3_v1",
+  "published_episodes": 66,
+  "published_successes": 66,
+  "published_failures": 0,
+  "matched_success_results": 66
+}
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+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14863687
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/episode_0001.h5
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf2d169f46f6f6d44de78df28633d5f4d7dd790a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,81 @@
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..175d846072e49d4b61012d979d2c356610b2450f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00032
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00032
+  reproducibility:
+    enabled: true
+    layout_id: layout_00032
+    action_seed: 8965520104066671838
+    step_seeds:
+    - 5868908299052723470
+    - 1147186024122430536
+    - 7048677080094423649
+    - 1480185638166204106
+    - 3014162407012415582
+    - 4167145195996473630
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1803
+      - 0.1803
+      'y':
+      - -0.0925
+      - -0.0925
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.285
+      - 0.285
+      'y':
+      - 0.081
+      - 0.081
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2185
+      - 0.2185
+      'y':
+      - -0.3137
+      - -0.3137
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2942
+      - 0.2942
+      'y':
+      - 0.3
+      - 0.3
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81d8bca0288f58f9b78d7bda1e719a514e69d144
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21664762115654754,
+              -0.08592460561878434,
+              1.1646703532126477
+            ],
+            "current_z": 1.1646703532126477,
+            "required_z": 0.8611066175178358,
+            "initial_z": 0.7611066175178358,
+            "lift_margin": 0.3035637356948119,
+            "gripper_z": 1.1586101582631467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21173051936146448,
+              -0.09069488521198436,
+              1.1586101582631467
+            ],
+            "object_minus_gripper": [
+              0.004917101795083062,
+              0.004770279593200019,
+              0.006060194949500941
+            ],
+            "object_to_gripper_xy": 0.006850799767947506,
+            "object_to_gripper_z": 0.006060194949500941,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21664762115654754,
+              -0.10984139122153277,
+              1.1646703532126477
+            ],
+            "finger_b": [
+              0.20583703541758996,
+              -0.08592460561878434,
+              1.1646703532126477
+            ],
+            "finger_midpoint": [
+              0.21124232828706874,
+              -0.09788299842015856,
+              1.1646703532126477
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054052928694788005,
+              0.011958392801374215,
+              0.0
+            ],
+            "finger_gap": 0.02624655020354461,
+            "fingertip_max_gap": 0.09158201589201148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312327510177231,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646703532126477,
+            "object_top_z": 1.214951538867083,
+            "finger_top_clearance": 0.0502811856544354,
+            "fingertip_min_top_clearance": 0.015084355696330619,
+            "object_projection_between_fingers": 0.8303499493110329,
+            "object_to_finger_line_xy": 0.009850988390994728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829100794600574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7369675472487643,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27935549051851893,
+              -0.31377743696460664,
+              0.8515395718038101
+            ],
+            "target_position": [
+              0.2704653159854805,
+              -0.31446597072104765,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008916797741434066,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539768692171224,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395718038101,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578182925777405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586642306849511,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15261868423791075,
+            "release_required_pad_clearance": 0.05293321153424756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.903949263862255,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27981913937694447,
+            -0.31433754402813624,
+            1.0433170406229466
+          ],
+          "object_origin_world": [
+            0.27981913937694447,
+            -0.31433754402813624,
+            1.0433170406229466
+          ],
+          "frame_world": [
+            0.2798446399805674,
+            -0.31433556681453817,
+            1.0436306578983185
+          ],
+          "center_minus_frame": [
+            -2.5500603622941043e-05,
+            -1.9772135980700156e-06,
+            -0.00031361727537193573
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2743644110056091,
+              0.13620480411617225,
+              0.8330337972892481
+            ],
+            "target_position": [
+              0.2854378151419298,
+              0.18304330450660877,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812967273929053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16999923218912338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330337972892481,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670473714449,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13952781813283355,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b63bd6141615b1e7a2dea0f4a09ef233ec58ffc43d66d749772ab92d1b56b569",
+    "visual_seed": 5630636441734598450,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06ca6020b09555a1549fa13c96c9c35969240186
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21255446492251423,
+              -0.09163239777304501,
+              1.1642183627424023
+            ],
+            "current_z": 1.1642183627424023,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3031118547276366,
+            "gripper_z": 1.1581962041781695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20799737121411013,
+              -0.09626685377883357,
+              1.1581962041781695
+            ],
+            "object_minus_gripper": [
+              0.0045570937084040974,
+              0.004634456005788559,
+              0.006022158564232827
+            ],
+            "object_to_gripper_xy": 0.006499637338864828,
+            "object_to_gripper_z": 0.006022158564232827,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21255446492251423,
+              -0.11521291825637915,
+              1.1642183627424023
+            ],
+            "finger_b": [
+              0.20189240096736671,
+              -0.09163239777304501,
+              1.1642183627424023
+            ],
+            "finger_midpoint": [
+              0.20722343294494047,
+              -0.10342265801471208,
+              1.1642183627424023
+            ],
+            "object_minus_finger_midpoint": [
+              0.005331031977573758,
+              0.011790260241667072,
+              0.0
+            ],
+            "finger_gap": 0.025878959678638493,
+            "fingertip_max_gap": 0.09235819040869198,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012939479839319246,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642183627424023,
+            "object_top_z": 1.2146369421718943,
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+            "fingertip_min_top_clearance": 0.015125573828847605,
+            "object_projection_between_fingers": 0.8302581470787487,
+            "object_to_finger_line_xy": 0.009715112995693732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867909520434599,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3202886378723921,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.283856845089384,
+              -0.3138120118810229,
+              0.8515396287423047
+            ],
+            "target_position": [
+              0.2749805702391729,
+              -0.3144956652703769,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008902563516946455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669966165781499,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287423047,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515357103617834,
+            "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": 0.15545923286986185,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2836747983313878,
+            -0.3122619137400985,
+            1.043342225385813
+          ],
+          "object_origin_world": [
+            0.2836747983313878,
+            -0.3122619137400985,
+            1.043342225385813
+          ],
+          "frame_world": [
+            0.2836730371922574,
+            -0.31226449808675744,
+            1.0432337891146735
+          ],
+          "center_minus_frame": [
+            1.761139130418421e-06,
+            2.584346658951464e-06,
+            0.00010843627113943377
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27336018497633335,
+              0.14324479475963656,
+              0.8325921195208777
+            ],
+            "target_position": [
+              0.28423846057367214,
+              0.1903040441583147,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04830020531983944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16891766984959244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325921195208777,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676291442544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13730975052932926,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ac41a562ded8516dd14afbe169606850c851dfc73776d9c943dcbc2c78f080e",
+    "visual_seed": 1998758100081139954,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f97a854f276e32431f0e021658e0d58708d1bad2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.20657450310743908,
+              -0.09771319425305519,
+              1.1628712919165443
+            ],
+            "current_z": 1.1628712919165443,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3017645454831992,
+            "gripper_z": 1.1568601429626129,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20197628103587859,
+              -0.10239159439614944,
+              1.1568601429626129
+            ],
+            "object_minus_gripper": [
+              0.004598222071560493,
+              0.004678400143094244,
+              0.0060111489539314
+            ],
+            "object_to_gripper_xy": 0.006559807475703103,
+            "object_to_gripper_z": 0.0060111489539314,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20657450310743908,
+              -0.12135620527848133,
+              1.1628712919165443
+            ],
+            "finger_b": [
+              0.19585433297505359,
+              -0.09771319425305519,
+              1.1628712919165443
+            ],
+            "finger_midpoint": [
+              0.20121441804124635,
+              -0.10953469976576827,
+              1.1628712919165443
+            ],
+            "object_minus_finger_midpoint": [
+              0.005360085066192732,
+              0.011821505512713076,
+              0.0
+            ],
+            "finger_gap": 0.025959853967534408,
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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": 1.1628712919165443,
+            "object_top_z": 1.2131598914718105,
+            "finger_top_clearance": 0.05028859955526621,
+            "fingertip_min_top_clearance": 0.015086579866579863,
+            "object_projection_between_fingers": 0.8294707565133174,
+            "object_to_finger_line_xy": 0.00976342551662308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487905782336074,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6652408948717488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2761500448205725,
+              -0.31639034478980305,
+              0.8515396136039592
+            ],
+            "target_position": [
+              0.26867409244144275,
+              -0.31640755470500176,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074759721880299085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18418573346664646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396136039592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550510708285403,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615144134588802,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15199033285893512,
+            "release_required_pad_clearance": 0.05307572067294401,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1803331399437405,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2737628348188549,
+            -0.31643406934224744,
+            1.0434393035793836
+          ],
+          "object_origin_world": [
+            0.2737628348188549,
+            -0.31643406934224744,
+            1.0434393035793836
+          ],
+          "frame_world": [
+            0.27376140002979077,
+            -0.3164361786046714,
+            1.0433343043225154
+          ],
+          "center_minus_frame": [
+            1.4347890641142058e-06,
+            2.109262423943825e-06,
+            0.00010499925686824341
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27726179588668776,
+              0.13847640865993058,
+              0.8340660334007336
+            ],
+            "target_position": [
+              0.2873554861769434,
+              0.1857396575059373,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048329052082108505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16966958435127175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340660334007336,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567589680217,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138025153759767,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff0efe1dbef36301445db7c0c853f633f0447de3cb421b74a4b61fbae0b5a5d0",
+    "visual_seed": 1174986827092880533,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67548485cf8d27804fa43e37885b7c4e9441f03c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_13_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21357747709220465,
+              -0.0936474205275158,
+              1.1649339582587874
+            ],
+            "current_z": 1.1649339582587874,
+            "required_z": 0.861106508014766,
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+            "lift_margin": 0.30382745024402147,
+            "gripper_z": 1.1587840513157832,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2088889023135782,
+              -0.09810995173275176,
+              1.1587840513157832
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+              0.004688574778626442,
+              0.004462531205235959,
+              0.006149906943004213
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+            "object_to_gripper_xy": 0.006472782880066092,
+            "object_to_gripper_z": 0.006149906943004213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21357747709220465,
+              -0.1177024629639669,
+              1.1649339582587874
+            ],
+            "finger_b": [
+              0.20360405263066583,
+              -0.0936474205275158,
+              1.1649339582587874
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+            "finger_midpoint": [
+              0.20859076486143524,
+              -0.10567494174574135,
+              1.1649339582587874
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012027521218225548,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09210185073740695,
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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": 0.009212955867858636,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855092536870348,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1962345530422767,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2758685128135709,
+              -0.3151689596617481,
+              0.851539559607363
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+            "target_position": [
+              0.26898919791618564,
+              -0.3148276310649923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00688777748394574,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848636121661128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539559607363,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552050660862614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745931937035235,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15256314194764134,
+            "release_required_pad_clearance": 0.05372965968517618,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.468642934620829,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27574651954830476,
+            -0.3137994974830944,
+            1.0433791430217152
+          ],
+          "object_origin_world": [
+            0.27574651954830476,
+            -0.3137994974830944,
+            1.0433791430217152
+          ],
+          "frame_world": [
+            0.27574493094202673,
+            -0.31380156995862846,
+            1.0432741003765966
+          ],
+          "center_minus_frame": [
+            1.5886062780245958e-06,
+            2.0724755340761902e-06,
+            0.00010504264511856931
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27028995663577443,
+              0.14003084382317965,
+              0.8331774197102103
+            ],
+            "target_position": [
+              0.28234700147475583,
+              0.18700338168537228,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048495274444674795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16827747115878175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331774197102103,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673287202446,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380863788424117,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b003388adb3a952caf6bed906678ce26f4e0f40160ba54eaeb41d24e84d6e99f",
+    "visual_seed": 4293137075540676853,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4773fd3486ebebf14b9563903be42f16b4e4362
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_14_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2125640856305396,
+              -0.08906415079671154,
+              1.1672913047867626
+            ],
+            "current_z": 1.1672913047867626,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.30618473716735206,
+            "gripper_z": 1.1610859342624371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2079981315650303,
+              -0.0936120245078991,
+              1.1610859342624371
+            ],
+            "object_minus_gripper": [
+              0.004565954065509303,
+              0.004547873711187561,
+              0.00620537052432546
+            ],
+            "object_to_gripper_xy": 0.006444462104881358,
+            "object_to_gripper_z": 0.00620537052432546,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2125640856305396,
+              -0.11280468435055926,
+              1.1672913047867626
+            ],
+            "finger_b": [
+              0.20222305010968178,
+              -0.08906415079671154,
+              1.1672913047867626
+            ],
+            "finger_midpoint": [
+              0.2073935678701107,
+              -0.1009344175736354,
+              1.1672913047867626
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051705177604289,
+              0.011870266776923863,
+              0.0
+            ],
+            "finger_gap": 0.025894979225035364,
+            "fingertip_max_gap": 0.09215411386175495,
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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": 1.1672913047867626,
+            "object_top_z": 1.2176389164497374,
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+            "fingertip_min_top_clearance": 0.015104283498892423,
+            "object_projection_between_fingers": 0.8405234154551023,
+            "object_to_finger_line_xy": 0.00948066799478659,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857705693087748,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0732997793098802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2751301384390688,
+              -0.31282644692438843,
+              0.8515395925997357
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+            "target_position": [
+              0.26747146857876225,
+              -0.3128699621842377,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00765879348246235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516225857792115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395925997357,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530732197924914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572920900022125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15351754531286968,
+            "release_required_pad_clearance": 0.05286460450011063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7712590842140237,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2734388927165753,
+            -0.3126524872410619,
+            1.0434427634183332
+          ],
+          "object_origin_world": [
+            0.2734388927165753,
+            -0.3126524872410619,
+            1.0434427634183332
+          ],
+          "frame_world": [
+            0.27343741778690156,
+            -0.31265435970411465,
+            1.0433383833499543
+          ],
+          "center_minus_frame": [
+            1.474929673728198e-06,
+            1.8724630527211517e-06,
+            0.00010438006837887315
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27245167068759424,
+              0.14486389796926957,
+              0.8321911792234569
+            ],
+            "target_position": [
+              0.2864145648838907,
+              0.1906936562782589,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04790959362170949,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16612452387247192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321911792234569,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671115409388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13637201022922163,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7698bef93bfd484e21fd2bc0b1c2f1c54e2c98c790812b0c390caff09600ea25",
+    "visual_seed": 7400223708735424658,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a57d069aaad121a80d2f1d5827bf93cacbbb45a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21323008039189867,
+              -0.09117791439648104,
+              1.1649273067353718
+            ],
+            "current_z": 1.1649273067353718,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3038208583252505,
+            "gripper_z": 1.1588054537317716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20866258215719408,
+              -0.09578941832507779,
+              1.1588054537317716
+            ],
+            "object_minus_gripper": [
+              0.004567498234704592,
+              0.004611503928596744,
+              0.006121853003600242
+            ],
+            "object_to_gripper_xy": 0.006490609263196543,
+            "object_to_gripper_z": 0.006121853003600242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21323008039189867,
+              -0.11488171831465888,
+              1.1649273067353718
+            ],
+            "finger_b": [
+              0.20276208945459634,
+              -0.09117791439648104,
+              1.1649273067353718
+            ],
+            "finger_midpoint": [
+              0.2079960849232475,
+              -0.10302981635556996,
+              1.1649273067353718
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233995468651165,
+              0.011851901959088917,
+              0.0
+            ],
+            "finger_gap": 0.025912335951335352,
+            "fingertip_max_gap": 0.09251691579104346,
+            "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": 1.1649273067353718,
+            "object_top_z": 1.2152910011389335,
+            "finger_top_clearance": 0.0503636944035617,
+            "fingertip_min_top_clearance": 0.015109108321068543,
+            "object_projection_between_fingers": 0.8368024837972904,
+            "object_to_finger_line_xy": 0.009575794519686664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875845789552173,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2950621904749582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2754500171160885,
+              -0.3111735678658991,
+              0.8515395796945228
+            ],
+            "target_position": [
+              0.26750302806646076,
+              -0.31115163818631086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007947019306994945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18443652825152868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395796945228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528732779077935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577426043053414,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281647549189428,
+            "release_required_pad_clearance": 0.05288713021526707,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8146883668746148,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27447302350462816,
+            -0.3102304256459105,
+            1.043402284891615
+          ],
+          "object_origin_world": [
+            0.27447302350462816,
+            -0.3102304256459105,
+            1.043402284891615
+          ],
+          "frame_world": [
+            0.27447158398677834,
+            -0.3102322872605303,
+            1.0432978346759865
+          ],
+          "center_minus_frame": [
+            1.4395178498105565e-06,
+            1.8616146197913963e-06,
+            0.0001044502156284377
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2726061390508973,
+              0.1373637910224322,
+              0.8333008296923965
+            ],
+            "target_position": [
+              0.28372542848887466,
+              0.18392725560498308,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047872694007502686,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16992537596067128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333008296923965,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671175123197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13948905179017834,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a4db29d2a02d66321d3e89bceb3373813cdfb997072ed43882538d0208da065",
+    "visual_seed": 3049036012682797099,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd12b00cb84300d9de6176cb9ec56bcf857b0c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2165171564454898,
+              -0.09468022744813812,
+              1.1645816594033715
+            ],
+            "current_z": 1.1645816594033715,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30347515138860537,
+            "gripper_z": 1.1585094300445076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.211767519033947,
+              -0.09920135901724482,
+              1.1585094300445076
+            ],
+            "object_minus_gripper": [
+              0.004749637411542801,
+              0.004521131569106704,
+              0.006072229358863979
+            ],
+            "object_to_gripper_xy": 0.006557414597713054,
+            "object_to_gripper_z": 0.006072229358863979,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2165171564454898,
+              -0.11868355487574853,
+              1.1645816594033715
+            ],
+            "finger_b": [
+              0.2063307237934251,
+              -0.09468022744813812,
+              1.1645816594033715
+            ],
+            "finger_midpoint": [
+              0.21142394011945745,
+              -0.10668189116194332,
+              1.1645816594033715
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050932163260323515,
+              0.012001663713805205,
+              0.0
+            ],
+            "finger_gap": 0.02607533581321867,
+            "fingertip_max_gap": 0.09246031064758053,
+            "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": 1.1645816594033715,
+            "object_top_z": 1.2148024685999004,
+            "finger_top_clearance": 0.050220809196528826,
+            "fingertip_min_top_clearance": 0.015066242758958681,
+            "object_projection_between_fingers": 0.8473894997675072,
+            "object_to_finger_line_xy": 0.009376994414118326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873015532379027,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.59597853161426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 320,
+            "max_stable_success_frames": 320,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2812185830249627,
+              -0.31473614121858706,
+              0.8515395661720432
+            ],
+            "target_position": [
+              0.274515653118967,
+              -0.31429731515851383,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006717279035122149,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411644284476705,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661720432,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536945413506106,
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+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28003046342727694,
+            -0.31520764369136467,
+            1.0433215258662012
+          ],
+          "object_origin_world": [
+            0.28003046342727694,
+            -0.31520764369136467,
+            1.0433215258662012
+          ],
+          "frame_world": [
+            0.28005640992558706,
+            -0.31520526621660855,
+            1.0436344866808274
+          ],
+          "center_minus_frame": [
+            -2.5946498310114308e-05,
+            -2.3774747561211562e-06,
+            -0.0003129608146261731
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2688675728457647,
+              0.13777265210011852,
+              0.8329004636997356
+            ],
+            "target_position": [
+              0.2809820079426748,
+              0.1838312944832255,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047625183211114114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16709442915085043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329004636997356,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671483597965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13663630258687942,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6826cd140ced08bb1971837574d260abd3216e6853b83c218f3b72f3c2f1fa9",
+    "visual_seed": 7351412445433114263,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb904a3ba0409aff30cd09b00fa3bbf1356297f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_17_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21723063400185882,
+              -0.09008154917346779,
+              1.1654722323782618
+            ],
+            "current_z": 1.1654722323782618,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30436572436349596,
+            "gripper_z": 1.1593797683579539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21253124090817113,
+              -0.09465303816810965,
+              1.1593797683579539
+            ],
+            "object_minus_gripper": [
+              0.004699393093687693,
+              0.0045714889946418535,
+              0.006092464020307942
+            ],
+            "object_to_gripper_xy": 0.006556127445156262,
+            "object_to_gripper_z": 0.006092464020307942,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21723063400185882,
+              -0.1139751177240419,
+              1.1654722323782618
+            ],
+            "finger_b": [
+              0.20685554567659536,
+              -0.09008154917346779,
+              1.1654722323782618
+            ],
+            "finger_midpoint": [
+              0.2120430898392271,
+              -0.10202833344875484,
+              1.1654722323782618
+            ],
+            "object_minus_finger_midpoint": [
+              0.00518754416263173,
+              0.011946784275287045,
+              0.0
+            ],
+            "finger_gap": 0.02604889778547265,
+            "fingertip_max_gap": 0.09198154423052285,
+            "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": 1.1654722323782618,
+            "object_top_z": 1.215676956662179,
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+            "fingertip_min_top_clearance": 0.015061417285175127,
+            "object_projection_between_fingers": 0.8413628488511543,
+            "object_to_finger_line_xy": 0.009516636218527264,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849077211526143,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2193197488889143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28025896216297214,
+              -0.3179363978356631,
+              0.8515395997682597
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+            "target_position": [
+              0.27225571412650046,
+              -0.31829662694745187,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008011350956378574,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854650157481237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395997682597,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+              "rod_tip_xy_range": 0.0006028783938495971,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27904225343390443,
+            -0.31772935353346915,
+            1.0433254428379628
+          ],
+          "object_origin_world": [
+            0.27904225343390443,
+            -0.31772935353346915,
+            1.0433254428379628
+          ],
+          "frame_world": [
+            0.2790679239094048,
+            -0.3177267796629929,
+            1.0436387369173719
+          ],
+          "center_minus_frame": [
+            -2.5670475500394474e-05,
+            -2.573870476252349e-06,
+            -0.0003132940794090544
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26766585807296916,
+              0.1435092608099869,
+              0.8327661792011664
+            ],
+            "target_position": [
+              0.2800535806357038,
+              0.190026750251231,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048138679813716743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16748880539918526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327661792011664,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670493132781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1368632833009412,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f3cd2eade80af5dcf293426b887eb5f7dc47cd350a1feb9b44696a3bb4d4b31",
+    "visual_seed": 8692708972110526610,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de1ccd5fa00e5f5fdb09f735928fb86dde5737c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_18_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2173975426875747,
+              -0.09483423130468425,
+              1.166103724654568
+            ],
+            "current_z": 1.166103724654568,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30499727624444684,
+            "gripper_z": 1.1599579842137433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2127383084191607,
+              -0.09934983308297915,
+              1.1599579842137433
+            ],
+            "object_minus_gripper": [
+              0.004659234268413998,
+              0.004515601778294895,
+              0.006145740440824721
+            ],
+            "object_to_gripper_xy": 0.0064883837269464366,
+            "object_to_gripper_z": 0.006145740440824721,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2173975426875747,
+              -0.11891442104370614,
+              1.166103724654568
+            ],
+            "finger_b": [
+              0.20735069287795266,
+              -0.09483423130468425,
+              1.166103724654568
+            ],
+            "finger_midpoint": [
+              0.21237411778276366,
+              -0.1068743261741952,
+              1.166103724654568
+            ],
+            "object_minus_finger_midpoint": [
+              0.00502342490481103,
+              0.01204009486951095,
+              0.0
+            ],
+            "finger_gap": 0.026092043403390185,
+            "fingertip_max_gap": 0.09247140987669936,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013046021701695104,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166103724654568,
+            "object_top_z": 1.2162503508859834,
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+            "fingertip_min_top_clearance": 0.015043987869424657,
+            "object_projection_between_fingers": 0.851733295217124,
+            "object_to_finger_line_xy": 0.009272177190373689,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873570493834968,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8301662462869526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 319,
+            "max_stable_success_frames": 319,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2763624582880961,
+              -0.31035398491993466,
+              0.8515395656089527
+            ],
+            "target_position": [
+              0.2708176653643666,
+              -0.3091088620754386,
+              0.8084375599031817
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+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006031072468740259,
+              "rod_tip_xy_max_step": 3.277829518354822e-05,
+              "rod_tip_xy_range": 0.0006031002533140992,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27691610721935944,
+            -0.31061220318168137,
+            1.0433915590650082
+          ],
+          "object_origin_world": [
+            0.27691610721935944,
+            -0.31061220318168137,
+            1.0433915590650082
+          ],
+          "frame_world": [
+            0.27691462301181013,
+            -0.3106140619081074,
+            1.0432862021555218
+          ],
+          "center_minus_frame": [
+            1.484207549307115e-06,
+            1.8587264260516712e-06,
+            0.0001053569094864315
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2702000599640255,
+              0.13991868537372082,
+              0.8337922877566996
+            ],
+            "target_position": [
+              0.27974865271230664,
+              0.1871587998858495,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819547740806763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1711685850087816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337922877566996,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670520902357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13956013920795393,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c733364f5648a1ebbe5fe106ecbf642f74f8709d5824faec5331fc4afbde165f",
+    "visual_seed": 5082227265301755303,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8dfa226f6203fda8ce7712fdaea833ea20c5f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21586153196355598,
+              -0.08617852127994395,
+              1.1640690726288558
+            ],
+            "current_z": 1.1640690726288558,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30296262421873466,
+            "gripper_z": 1.1579969225060631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21104733582032048,
+              -0.09076483946862543,
+              1.1579969225060631
+            ],
+            "object_minus_gripper": [
+              0.0048141961432355,
+              0.004586318188681479,
+              0.006072150122792719
+            ],
+            "object_to_gripper_xy": 0.006649120169870155,
+            "object_to_gripper_z": 0.006072150122792719,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21586153196355598,
+              -0.11020829586970249,
+              1.1640690726288558
+            ],
+            "finger_b": [
+              0.20549457563828544,
+              -0.08617852127994395,
+              1.1640690726288558
+            ],
+            "finger_midpoint": [
+              0.2106780538009207,
+              -0.09819340857482323,
+              1.1640690726288558
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051834781626352855,
+              0.012014887294879276,
+              0.0
+            ],
+            "finger_gap": 0.026170667746251184,
+            "fingertip_max_gap": 0.09176600444704658,
+            "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": 1.1640690726288558,
+            "object_top_z": 1.214194111876602,
+            "finger_top_clearance": 0.05012503924774614,
+            "fingertip_min_top_clearance": 0.015037511774323841,
+            "object_projection_between_fingers": 0.8430819400337773,
+            "object_to_finger_line_xy": 0.00951888679698694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838300222352329,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1332560327447732,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 315,
+            "max_stable_success_frames": 315,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006039633709872664,
+              "rod_tip_xy_max_step": 3.28229026764168e-05,
+              "rod_tip_xy_range": 0.0006039537707547545,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2792945169191573,
+            -0.31069344079703665,
+            1.043359664584282
+          ],
+          "object_origin_world": [
+            0.2792945169191573,
+            -0.31069344079703665,
+            1.043359664584282
+          ],
+          "frame_world": [
+            0.2793202246163803,
+            -0.3106917367909633,
+            1.0436721216230882
+          ],
+          "center_minus_frame": [
+            -2.570769722298749e-05,
+            -1.704006073355302e-06,
+            -0.0003124570388062242
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2745633042359818,
+              0.14490895357835148,
+              0.8332349137209292
+            ],
+            "target_position": [
+              0.2861373348789522,
+              0.1910742391631991,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04759403091202674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16851637025863597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332349137209292,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567096525388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13712934146035427,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b20bf07a74061fe6d96b618c6a6b3501f9bd3455f3b5717d9ecafd9d988b39a9",
+    "visual_seed": 558192566114340019,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3b809b7406fa48869c243eeacca96e9dfbbff2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21564816999649908,
+              -0.09341512874582698,
+              1.163870116377695
+            ],
+            "current_z": 1.163870116377695,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3027637275722186,
+            "gripper_z": 1.157859045698416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21096820202417815,
+              -0.09793089711321204,
+              1.157859045698416
+            ],
+            "object_minus_gripper": [
+              0.004679967972320925,
+              0.004515768367385056,
+              0.006011070679279085
+            ],
+            "object_to_gripper_xy": 0.00650340404479263,
+            "object_to_gripper_z": 0.006011070679279085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21564816999649908,
+              -0.11737287649008502,
+              1.163870116377695
+            ],
+            "finger_b": [
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+              -0.09341512874582698,
+              1.163870116377695
+            ],
+            "finger_midpoint": [
+              0.21056200883196974,
+              -0.105394002617956,
+              1.163870116377695
+            ],
+            "object_minus_finger_midpoint": [
+              0.00508616116452934,
+              0.011978873872129023,
+              0.0
+            ],
+            "finger_gap": 0.02602786619267446,
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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": 1.163870116377695,
+            "object_top_z": 1.2141616086869162,
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+            "fingertip_min_top_clearance": 0.015087447692766376,
+            "object_projection_between_fingers": 0.8472563742231185,
+            "object_to_finger_line_xy": 0.009363269755914979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048662516661183666,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3903908450507831,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+                "depth": 0.019634563677904504,
+                "bottom_clearance": 0.07980600868439747,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006006196574940818,
+              "rod_tip_xy_max_step": 3.253876883112447e-05,
+              "rod_tip_xy_range": 0.0006006062260608533,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28320979442174427,
+            -0.31226449423517555,
+            1.0434014810106325
+          ],
+          "object_origin_world": [
+            0.28320979442174427,
+            -0.31226449423517555,
+            1.0434014810106325
+          ],
+          "frame_world": [
+            0.2832079678123901,
+            -0.3122672642040717,
+            1.0432933553005772
+          ],
+          "center_minus_frame": [
+            1.8266093541607908e-06,
+            2.76996889614356e-06,
+            0.00010812571005525129
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27288529278316126,
+              0.1408845638871007,
+              0.8335544903331714
+            ],
+            "target_position": [
+              0.2834238217605717,
+              0.18772618259700413,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04801247584088635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16668110143047338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335544903331714,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673901032177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356256088215411,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce40b42c6fe91e6a91aab65d46dd1c5db2f6cdd2cfafddbd0273e559cea0ff4e",
+    "visual_seed": 7356983879708754724,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8669686dde55d7434c1a667adfab94cbf4e34a6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_20_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2117009693965575,
+              -0.08824853370415704,
+              1.1650930826992223
+            ],
+            "current_z": 1.1650930826992223,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.3039862766612327,
+            "gripper_z": 1.159141021688392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20682697471359401,
+              -0.09286294409375438,
+              1.159141021688392
+            ],
+            "object_minus_gripper": [
+              0.004873994682963484,
+              0.00461441038959734,
+              0.005952061010830345
+            ],
+            "object_to_gripper_xy": 0.006711825937342251,
+            "object_to_gripper_z": 0.005952061010830345,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2117009693965575,
+              -0.11228520572218852,
+              1.1650930826992223
+            ],
+            "finger_b": [
+              0.2013491409325442,
+              -0.08824853370415704,
+              1.1650930826992223
+            ],
+            "finger_midpoint": [
+              0.20652505516455083,
+              -0.10026686971317278,
+              1.1650930826992223
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051759142320066676,
+              0.012018336009015737,
+              0.0
+            ],
+            "finger_gap": 0.026171013626735466,
+            "fingertip_max_gap": 0.0921655248410376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013085506813367738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650930826992223,
+            "object_top_z": 1.2154307491623344,
+            "finger_top_clearance": 0.05033766646311211,
+            "fingertip_min_top_clearance": 0.015101299938933598,
+            "object_projection_between_fingers": 0.8435437032156791,
+            "object_to_finger_line_xy": 0.009507599098959624,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485827624205188,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0755871704419229,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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,
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+                  0.00022903990747180636,
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+                "rod_tip_xy": [
+                  0.27497040721871713,
+                  -0.3101876373457728
+                ],
+                "target_mouth_xy": [
+                  0.2747413673112453,
+                  -0.31273517231790104
+                ],
+                "gripper_position": [
+                  0.27496080559416325,
+                  -0.3101855767980226,
+                  1.0014883943610067
+                ],
+                "rod_tip_xy_dist": 0.0025578103357033867,
+                "target_xy_drift": 1.103782387420839e-07,
+                "depth": 0.01965578907686838,
+                "bottom_clearance": 0.0797849441695474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00021949635766477238,
+                  0.002549712151399486
+                ],
+                "rod_tip_xy": [
+                  0.2749608055941632,
+                  -0.31018557679802256
+                ],
+                "target_mouth_xy": [
+                  0.2747413092364984,
+                  -0.31273528894942204
+                ],
+                "gripper_position": [
+                  0.2749687196116849,
+                  -0.3102514804698467,
+                  1.0009007100505016
+                ],
+                "rod_tip_xy_dist": 0.0025591425724297377,
+                "target_xy_drift": 6.708725813682455e-08,
+                "depth": 0.019771502111921357,
+                "bottom_clearance": 0.07966907070521367,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005980443327768307,
+              "rod_tip_xy_max_step": 3.2405085828079384e-05,
+              "rod_tip_xy_range": 0.0005980343872140985,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2745051390222439,
+            -0.3115643453413688,
+            1.0434995173141695
+          ],
+          "object_origin_world": [
+            0.2745051390222439,
+            -0.3115643453413688,
+            1.0434995173141695
+          ],
+          "frame_world": [
+            0.27450372939556467,
+            -0.31156618894265936,
+            1.043394874444251
+          ],
+          "center_minus_frame": [
+            1.4096266792162915e-06,
+            1.8436012905742594e-06,
+            0.00010464286991851424
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2730152177823374,
+              0.13662216354396264,
+              0.8335314135615775
+            ],
+            "target_position": [
+              0.2846426035616569,
+              0.18278800472116685,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04760757283941248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1663825525689305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335314135615775,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673498587454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358260258983293,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e784dc22cfe245de49024d816981d45f6307e03f9c9a091716969e5b30f1407",
+    "visual_seed": 6654715254357290327,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..962aa5a1989b8a21b0c373346f616e6126cc692f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21232368164749965,
+              -0.08507182312490469,
+              1.1674067177510836
+            ],
+            "current_z": 1.1674067177510836,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30630020973631766,
+            "gripper_z": 1.1615118650469414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20746777819078782,
+              -0.0897149593747931,
+              1.1615118650469414
+            ],
+            "object_minus_gripper": [
+              0.00485590345671183,
+              0.004643136249888408,
+              0.0058948527041422505
+            ],
+            "object_to_gripper_xy": 0.006718520120974089,
+            "object_to_gripper_z": 0.0058948527041422505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21232368164749965,
+              -0.1090821059244663,
+              1.1674067177510836
+            ],
+            "finger_b": [
+              0.2018907592333178,
+              -0.08507182312490469,
+              1.1674067177510836
+            ],
+            "finger_midpoint": [
+              0.20710722044040875,
+              -0.09707696452468549,
+              1.1674067177510836
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052164612070909055,
+              0.012005141399780803,
+              0.0
+            ],
+            "finger_gap": 0.026178990626364144,
+            "fingertip_max_gap": 0.09198063714495275,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013089495313182067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1674067177510836,
+            "object_top_z": 1.2176556888887147,
+            "finger_top_clearance": 0.05024897113763105,
+            "fingertip_min_top_clearance": 0.015074691341289347,
+            "object_projection_between_fingers": 0.8411796458176828,
+            "object_to_finger_line_xy": 0.009568643083516048,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048490318572476376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1390562206545323,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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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+                "depth": 0.019203987329150407,
+                "bottom_clearance": 0.08023658151468338,
+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  -0.002040881073318457,
+                  0.0020167023351994606
+                ],
+                "rod_tip_xy": [
+                  0.28217030980686686,
+                  -0.3086666623088221
+                ],
+                "target_mouth_xy": [
+                  0.2842111908801853,
+                  -0.3106833646440216
+                ],
+                "gripper_position": [
+                  0.28216040865748876,
+                  -0.3086649970059524,
+                  1.0018171166701075
+                ],
+                "rod_tip_xy_dist": 0.0028691956824567497,
+                "target_xy_drift": 4.916896391033403e-07,
+                "depth": 0.01932355271091557,
+                "bottom_clearance": 0.08011695897355786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0020508109390398044,
+                  0.002018367322342285
+                ],
+                "rod_tip_xy": [
+                  0.2821604086574888,
+                  -0.3086649970059525
+                ],
+                "target_mouth_xy": [
+                  0.2842112195965286,
+                  -0.3106833643282948
+                ],
+                "gripper_position": [
+                  0.28215043622518,
+                  -0.3086635253906805,
+                  1.001697653467958
+                ],
+                "rod_tip_xy_dist": 0.002877434995892086,
+                "target_xy_drift": 5.011885518673366e-07,
+                "depth": 0.019442735204331152,
+                "bottom_clearance": 0.07999780590499417,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006047405706841309,
+              "rod_tip_xy_max_step": 3.2768258672850394e-05,
+              "rod_tip_xy_range": 0.0006047306691787739,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2816377299957602,
+            -0.3100983755481326,
+            1.043299375275071
+          ],
+          "object_origin_world": [
+            0.2816377299957602,
+            -0.3100983755481326,
+            1.043299375275071
+          ],
+          "frame_world": [
+            0.2816635418296938,
+            -0.31009630594718024,
+            1.0436134761510953
+          ],
+          "center_minus_frame": [
+            -2.5811833933575556e-05,
+            -2.069600952336881e-06,
+            -0.000314100876024348
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2756412922956463,
+              0.14166869450664876,
+              0.8331593501736722
+            ],
+            "target_position": [
+              0.2868849658635215,
+              0.18864349849098921,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04830168117848636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16638125900824527,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331593501736722,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675199335437,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13528789013839523,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9bbc91c32dfeb0a6ea1f8adde6a313087a8b433ab672fdc49a0fd539038e0ab1",
+    "visual_seed": 4992695979824673494,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f10e3b0577e3f590f205594c096d0870b9ea09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_22_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21738630482434296,
+              -0.08957093241922731,
+              1.1638091144221998
+            ],
+            "current_z": 1.1638091144221998,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3027024275934995,
+            "gripper_z": 1.157657114996901,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2126600626833444,
+              -0.0940771944666341,
+              1.157657114996901
+            ],
+            "object_minus_gripper": [
+              0.0047262421409985655,
+              0.004506262047406784,
+              0.00615199942529876
+            ],
+            "object_to_gripper_xy": 0.006530219170537041,
+            "object_to_gripper_z": 0.00615199942529876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21738630482434296,
+              -0.11362146771876742,
+              1.1638091144221998
+            ],
+            "finger_b": [
+              0.2072227345331472,
+              -0.08957093241922731,
+              1.1638091144221998
+            ],
+            "finger_midpoint": [
+              0.21230451967874509,
+              -0.10159620006899736,
+              1.1638091144221998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005081785145597872,
+              0.01202526764977005,
+              0.0
+            ],
+            "finger_gap": 0.02610989102348958,
+            "fingertip_max_gap": 0.09180231060344046,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013054945511744784,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638091144221998,
+            "object_top_z": 1.2137547351707214,
+            "finger_top_clearance": 0.0499456207485216,
+            "fingertip_min_top_clearance": 0.014983686224556514,
+            "object_projection_between_fingers": 0.8484756352971102,
+            "object_to_finger_line_xy": 0.009361942791636022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840115530172023,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4119879152333328,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 307,
+            "max_stable_success_frames": 307,
+            "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",
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+                "depth": 0.019309153762845255,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0008499474625777159,
+                  0.0014923192549901043
+                ],
+                "rod_tip_xy": [
+                  0.2811723417720749,
+                  -0.3115507935171481
+                ],
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+                  0.2811625183296563,
+                  -0.3115491610773174,
+                  1.0016948369390066
+                ],
+                "rod_tip_xy_dist": 0.0017173897192997627,
+                "target_xy_drift": 8.386904470167153e-08,
+                "depth": 0.019445861464079228,
+                "bottom_clearance": 0.0799947991183908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.000859711023910581,
+                  0.0014939520124141459
+                ],
+                "rod_tip_xy": [
+                  0.2811625183296562,
+                  -0.31154916107731756
+                ],
+                "target_mouth_xy": [
+                  0.2820222293535668,
+                  -0.3130431130897317
+                ],
+                "gripper_position": [
+                  0.2811526064812504,
+                  -0.31154806468172636,
+                  1.0015753059485715
+                ],
+                "rod_tip_xy_dist": 0.001723657640028801,
+                "target_xy_drift": 6.15879636962115e-08,
+                "depth": 0.019565075282968913,
+                "bottom_clearance": 0.0798755632351219,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006070700172696777,
+              "rod_tip_xy_max_step": 3.297267636419919e-05,
+              "rod_tip_xy_range": 0.0006070582748226451,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28068493415196344,
+            -0.3128409302991105,
+            1.0434038854706427
+          ],
+          "object_origin_world": [
+            0.28068493415196344,
+            -0.3128409302991105,
+            1.0434038854706427
+          ],
+          "frame_world": [
+            0.2806831861825856,
+            -0.3128432085545406,
+            1.043296710339762
+          ],
+          "center_minus_frame": [
+            1.7479693778521543e-06,
+            2.2782554301437052e-06,
+            0.00010717513088076558
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2742349090581758,
+              0.1419058083958377,
+              0.8322626721856793
+            ],
+            "target_position": [
+              0.2860918127780813,
+              0.18869429549838462,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826747032078965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16771662023034625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322626721856793,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670110824643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13693204221581545,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25babf0e1351f54ff9699f7ab4e6e5c04629584213fd6388e14f6c2f819d0c01",
+    "visual_seed": 1361699092338444758,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c99dba1676fea08c25b9ab2708e728085b6d32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_23_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21550571352893333,
+              -0.09013450496893245,
+              1.1644437047532994
+            ],
+            "current_z": 1.1644437047532994,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3033372563431782,
+            "gripper_z": 1.158268911208125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2107845147040947,
+              -0.09466114441808486,
+              1.158268911208125
+            ],
+            "object_minus_gripper": [
+              0.004721198824838624,
+              0.004526639449152409,
+              0.006174793545174362
+            ],
+            "object_to_gripper_xy": 0.006540656163282123,
+            "object_to_gripper_z": 0.006174793545174362,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21550571352893333,
+              -0.11410920649755854,
+              1.1644437047532994
+            ],
+            "finger_b": [
+              0.20529546755354094,
+              -0.09013450496893245,
+              1.1644437047532994
+            ],
+            "finger_midpoint": [
+              0.21040059054123714,
+              -0.1021218557332455,
+              1.1644437047532994
+            ],
+            "object_minus_finger_midpoint": [
+              0.005105122987696192,
+              0.011987350764313051,
+              0.0
+            ],
+            "finger_gap": 0.026058308392233033,
+            "fingertip_max_gap": 0.09190155136371062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013029154196116523,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644437047532994,
+            "object_top_z": 1.214578588433603,
+            "finger_top_clearance": 0.0501348836803035,
+            "fingertip_min_top_clearance": 0.01504046510409105,
+            "object_projection_between_fingers": 0.8464746943819662,
+            "object_to_finger_line_xy": 0.009393840770832603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845077568185531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0307018220938926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 318,
+            "max_stable_success_frames": 318,
+            "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",
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+                "fr3_joint5",
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+                "depth": 0.019514147030711304,
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+              },
+              {
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+                  0.001034691184716996
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+                "rod_tip_xy": [
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+                ],
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+                  0.2773768563012754,
+                  -0.3133534697798842,
+                  1.0014933344060346
+                ],
+                "rod_tip_xy_dist": 0.002058736455275663,
+                "target_xy_drift": 0.0,
+                "depth": 0.019648866667396292,
+                "bottom_clearance": 0.07979169438390243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.0017701940154444817,
+                  0.0010363876118179016
+                ],
+                "rod_tip_xy": [
+                  0.27737685630127534,
+                  -0.3133534697798842
+                ],
+                "target_mouth_xy": [
+                  0.27560666228583086,
+                  -0.3143898573917021
+                ],
+                "gripper_position": [
+                  0.2773884423541906,
+                  -0.3134156832148211,
+                  1.000903360369898
+                ],
+                "rod_tip_xy_dist": 0.002051264520788353,
+                "target_xy_drift": 0.0,
+                "depth": 0.019766553612060478,
+                "bottom_clearance": 0.07967400743923825,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006040764424938464,
+              "rod_tip_xy_max_step": 3.2781518509544894e-05,
+              "rod_tip_xy_range": 0.000604070093142873,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27697346135755063,
+            -0.31462965115245817,
+            1.0433465230826755
+          ],
+          "object_origin_world": [
+            0.27697346135755063,
+            -0.31462965115245817,
+            1.0433465230826755
+          ],
+          "frame_world": [
+            0.2769992842019779,
+            -0.3146279822767856,
+            1.0436601223616526
+          ],
+          "center_minus_frame": [
+            -2.5822844427259017e-05,
+            -1.6688756725447007e-06,
+            -0.0003135992789771169
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2732602850061612,
+              0.1373731892435723,
+              0.834286389356823
+            ],
+            "target_position": [
+              0.2832634626135439,
+              0.18452658739321726,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04820276464378141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16801594628024835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834286389356823,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835678419434552,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13644861110939654,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ee4be19652a4ae55ed54f00b377327e1d3765ca13100e24ea36392650737230",
+    "visual_seed": 2148777728419532561,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8125c355983bb4a2d3b535f887a9812e2ff3fe7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_24_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20577278664868315,
+              -0.0979843510620831,
+              1.1640251615311623
+            ],
+            "current_z": 1.1640251615311623,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3029187131210409,
+            "gripper_z": 1.1580275043759163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20117564492192028,
+              -0.10261583070961634,
+              1.1580275043759163
+            ],
+            "object_minus_gripper": [
+              0.004597141726762871,
+              0.004631479647533243,
+              0.005997657155246028
+            ],
+            "object_to_gripper_xy": 0.006525665926283613,
+            "object_to_gripper_z": 0.005997657155246028,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20577278664868315,
+              -0.12159866474651274,
+              1.1640251615311623
+            ],
+            "finger_b": [
+              0.19508531978903448,
+              -0.0979843510620831,
+              1.1640251615311623
+            ],
+            "finger_midpoint": [
+              0.20042905321885882,
+              -0.10979150790429792,
+              1.1640251615311623
+            ],
+            "object_minus_finger_midpoint": [
+              0.005343733429824332,
+              0.011807156842214825,
+              0.0
+            ],
+            "finger_gap": 0.025920219109080257,
+            "fingertip_max_gap": 0.09251669877048213,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012960109554540133,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640251615311623,
+            "object_top_z": 1.214316173156301,
+            "finger_top_clearance": 0.050291011625138715,
+            "fingertip_min_top_clearance": 0.01508730348754158,
+            "object_projection_between_fingers": 0.8299908776770895,
+            "object_to_finger_line_xy": 0.009736692188195194,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875834938524107,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6027024302589983,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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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+                "rod_tip_xy": [
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+                "depth": 0.0194856207933779,
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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                  0.0011814206212287792
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+                "rod_tip_xy": [
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+                  -0.3165605890000302
+                ],
+                "target_mouth_xy": [
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+                "gripper_position": [
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+                  -0.31655919031258,
+                  1.0015191493677222
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+                "rod_tip_xy_dist": 0.0012900319756812483,
+                "target_xy_drift": 2.956596992175823e-08,
+                "depth": 0.01962149971626792,
+                "bottom_clearance": 0.07981906131707917,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006005938196706848,
+              "rod_tip_xy_max_step": 3.256040944836711e-05,
+              "rod_tip_xy_range": 0.0006005870280599276,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2779018185295289,
+            -0.31791658375404125,
+            1.043379518384799
+          ],
+          "object_origin_world": [
+            0.2779018185295289,
+            -0.31791658375404125,
+            1.043379518384799
+          ],
+          "frame_world": [
+            0.2779272935307263,
+            -0.3179144476783661,
+            1.0436912532339533
+          ],
+          "center_minus_frame": [
+            -2.547500119742807e-05,
+            -2.136075675174265e-06,
+            -0.0003117348491543659
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27623244255946605,
+              0.14226261184208316,
+              0.8340806118916867
+            ],
+            "target_position": [
+              0.28574445872029347,
+              0.18935455511648075,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04804299712552207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17120014065721012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340806118916867,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674461268471,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13937101071253463,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb417973e50f57d7937174bf1517c82c041742c8bb2bc1d81056164518db5294",
+    "visual_seed": 4362603052640825065,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d35803f626fd2ec9323d9b504fb0a0ebdf2229
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_25_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21451994191056326,
+              -0.09276364118960635,
+              1.1660139080328986
+            ],
+            "current_z": 1.1660139080328986,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30490745962277743,
+            "gripper_z": 1.1598902206769937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20967812673940167,
+              -0.09734008091260384,
+              1.1598902206769937
+            ],
+            "object_minus_gripper": [
+              0.004841815171161584,
+              0.004576439722997483,
+              0.006123687355904961
+            ],
+            "object_to_gripper_xy": 0.006662355040818506,
+            "object_to_gripper_z": 0.006123687355904961,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21451994191056326,
+              -0.1169556904384326,
+              1.1660139080328986
+            ],
+            "finger_b": [
+              0.2043924909033928,
+              -0.09276364118960635,
+              1.1660139080328986
+            ],
+            "finger_midpoint": [
+              0.20945621640697804,
+              -0.10485966581401948,
+              1.1660139080328986
+            ],
+            "object_minus_finger_midpoint": [
+              0.00506372550358522,
+              0.01209602462441313,
+              0.0
+            ],
+            "finger_gap": 0.026226332392469073,
+            "fingertip_max_gap": 0.09227437995154061,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013113166196234538,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660139080328986,
+            "object_top_z": 1.2162578937947588,
+            "finger_top_clearance": 0.05024398576186018,
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+                "centered": true
+              },
+              {
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+                "rod_tip_xy": [
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+                "gripper_position": [
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+                "target_xy_drift": 3.2691245102595086e-08,
+                "depth": 0.019375538433065054,
+                "bottom_clearance": 0.08006506620145382,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000600445104292225,
+              "rod_tip_xy_max_step": 3.26684174390198e-05,
+              "rod_tip_xy_range": 0.0006004382904389658,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830204039579034,
+            -0.3159239059107654,
+            1.0433777116401879
+          ],
+          "object_origin_world": [
+            0.2830204039579034,
+            -0.3159239059107654,
+            1.0433777116401879
+          ],
+          "frame_world": [
+            0.2830186218493928,
+            -0.3159265578818897,
+            1.0432685315239427
+          ],
+          "center_minus_frame": [
+            1.7821085105951262e-06,
+            2.651971124312258e-06,
+            0.00010918011624516666
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27236643509540565,
+              0.14584178236384923,
+              0.8331199499550522
+            ],
+            "target_position": [
+              0.28277892679945976,
+              0.1923247124198964,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047634890260001325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16915641230216222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331199499550522,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667946364745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13752669451859592,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e043d33a143f50436cd93adc2e29a866fa912071eea35aa4b2ff0ee9dc674bea",
+    "visual_seed": 9218119681391217906,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ed1b126e26646d0b6f3661acaf045f204bffbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_26_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2109014368066286,
+              -0.09284934147477071,
+              1.1644552618914532
+            ],
+            "current_z": 1.1644552618914532,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30334851545810826,
+            "gripper_z": 1.1583402588787515,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20615607848870857,
+              -0.09732754715479898,
+              1.1583402588787515
+            ],
+            "object_minus_gripper": [
+              0.004745358317920029,
+              0.004478205680028269,
+              0.006115003012701736
+            ],
+            "object_to_gripper_xy": 0.006524779818360943,
+            "object_to_gripper_z": 0.006115003012701736,
+            "fingertip_source": "active_contact_pad_positions",
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+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006037663571020422,
+              "rod_tip_xy_max_step": 3.291909606631048e-05,
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+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2809176958341053,
+            -0.31370710706897287,
+            1.0433063507226148
+          ],
+          "object_origin_world": [
+            0.2809176958341053,
+            -0.31370710706897287,
+            1.0433063507226148
+          ],
+          "frame_world": [
+            0.2809435032172709,
+            -0.3137048809399896,
+            1.0436204719558602
+          ],
+          "center_minus_frame": [
+            -2.5807383165599163e-05,
+            -2.2261289832625764e-06,
+            -0.000314121233245368
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.270213895795158,
+              0.13761082397505994,
+              0.8325415456532003
+            ],
+            "target_position": [
+              0.282464093959382,
+              0.18338793658825592,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04738788235682181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16859623147304334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325415456532003,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672640905026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13869338539200687,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccd727aadbc09350a2b8b6431c5d11804711cb709e3256968c824bc36ed5f8f3",
+    "visual_seed": 1320892857260085969,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a33260d920eb16c4ee710ec2c6b46b80178796d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_29_success.json
@@ -0,0 +1,2014 @@
+{
+  "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,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9ce9a88d4e037b5b33700a33c19ce1f6db6a428
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 2,
+  "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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+          "metrics": {
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+              1.1653290901097204
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+              1.1653290901097204
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+            "stable_success_frames": 319,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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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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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "placed_release_frames": 147,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
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+            "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": 0.007009709478912642,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              -0.3749466836452484,
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+            "closest_contact_pad_minus_button": [
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+              -0.0022159678390116233,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "failed_keys": []
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28345a5ee3670a3893ba717d604cb3cd106453f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_30_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.08413121616177033,
+              1.1665741794276738
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+            "lift_margin": 0.30546773101755276,
+            "gripper_z": 1.1606880130392392,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.08879817842126567,
+              1.1606880130392392
+            ],
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+              0.004727284989948122,
+              0.004666962259495339,
+              0.005886166388434644
+            ],
+            "object_to_gripper_xy": 0.006642872880594859,
+            "object_to_gripper_z": 0.005886166388434644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2148231687233799,
+              -0.1079449037140591,
+              1.1665741794276738
+            ],
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+              0.20420694628683245,
+              -0.08413121616177033,
+              1.1665741794276738
+            ],
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+              0.20951505750510618,
+              -0.09603805993791471,
+              1.1665741794276738
+            ],
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+              0.005308111218273709,
+              0.011906843776144385,
+              0.0
+            ],
+            "finger_gap": 0.026072895766682428,
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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": 1.1665741794276738,
+            "object_top_z": 1.2168543174818411,
+            "finger_top_clearance": 0.05028013805416731,
+            "fingertip_min_top_clearance": 0.015084041416250193,
+            "object_projection_between_fingers": 0.8342087972679416,
+            "object_to_finger_line_xy": 0.009696330102795749,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486291932610205,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3743045471148092,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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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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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2832326854558066,
+              -0.30885697418446134,
+              0.8515395930967752
+            ],
+            "target_position": [
+              0.27464658262576447,
+              -0.3092634251234567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008595717781190103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18595889824952078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395930967752,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546081605733777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566906144306217,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15395032542726955,
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+            "object_tilt_deg": 0.7132635904575849,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "max_z_decrease": 0.006744444370269775,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510467975329972,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006744444370269775,
+            "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": 0.02112528795017478,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006744444370269775,
+            "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": 0.006744464658787919,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3655248880386352,
+              0.7768088579177856
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+              -0.36552518606185913,
+              0.7700644135475159
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+              -0.3508538007736206,
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+              -0.3655259907245636,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014672189950942993,
+              0.03438973426818848
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+            "min_contact_pad_to_button": 0.02112528795017478,
+            "closest_contact_pad": [
+              0.13032996654510492,
+              -0.3668059395141467,
+              0.7911508419215258
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+            "closest_contact_pad_button": [
+              0.13032996654510492,
+              -0.36552518606185913,
+              0.7700644135475159
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.001280753452287564,
+              0.02108642837400998
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "forbidden": [],
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+    "task_island_state_digest": "656b7c8405e8cb2ef42292f93837aa9d6f0fb5f1abf67f1f3ec0e749e7175592",
+    "visual_seed": 2044414463558502514,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..763f66fbc93e45ff65dbdbd850ef3090f6c6ea8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_31_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.21029623401832853,
+              -0.08765518590546371,
+              1.1673406238693498
+            ],
+            "current_z": 1.1673406238693498,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3062341754592287,
+            "gripper_z": 1.1613477686843654,
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+            "virtual_attach_allowed": false,
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+              -0.09223304482210523,
+              1.1613477686843654
+            ],
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+              0.00484877244520901,
+              0.004577858916641517,
+              0.00599285518498438
+            ],
+            "object_to_gripper_xy": 0.006668387097799018,
+            "object_to_gripper_z": 0.00599285518498438,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21029623401832853,
+              -0.1117804945253301,
+              1.1673406238693498
+            ],
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+              0.20012208045905938,
+              -0.08765518590546371,
+              1.1673406238693498
+            ],
+            "finger_midpoint": [
+              0.20520915723869396,
+              -0.09971784021539691,
+              1.1673406238693498
+            ],
+            "object_minus_finger_midpoint": [
+              0.005087076779634575,
+              0.012062654309933196,
+              0.0
+            ],
+            "finger_gap": 0.026182893588207336,
+            "fingertip_max_gap": 0.09196085422432335,
+            "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": 1.1673406238693498,
+            "object_top_z": 1.217659945140885,
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+            "fingertip_min_top_clearance": 0.015095796381460545,
+            "object_projection_between_fingers": 0.8490054420536454,
+            "object_to_finger_line_xy": 0.009374616817517528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048480427112161675,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0654430239182913,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2833502735283012,
+              -0.31579909623232416,
+              0.8515396148247453
+            ],
+            "target_position": [
+              0.2761892877491677,
+              -0.3156529967477366,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071624759956560825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18293920509177916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396148247453,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549869778304469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710422872524144,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15087149633296373,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.115538450049495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006945908069610596,
+            "max_z_decrease": 0.006945908069610596,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035186095937925904,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006945908069610596,
+            "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": 0.02104283069197921,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006945908069610596,
+            "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": 0.006945924869823799,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.131889209151268,
+              -0.3719144463539124,
+              0.7768088579177856
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+            "button_final": [
+              0.131889209151268,
+              -0.3719144463539124,
+              0.7768088579177856
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+            "closest_ee": [
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+              -0.37049474063324167,
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+            "closest_button": [
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+              0.13187395036220548,
+              -0.3719151914119721,
+              0.769862949848175
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+            "min_active_finger_to_button": 0.14687776989924192,
+            "closest_active_finger": [
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+              -0.4316292405128479,
+              0.8107122778892517
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+            "closest_active_finger_button": [
+              0.13188929855823514,
+              -0.3719162046909333,
+              0.7765096426010132
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12975982576608655,
+              -0.05971303582191462,
+              0.034202635288238525
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+            "min_contact_pad_to_button": 0.02104283069197921,
+            "closest_contact_pad": [
+              0.13187395036220548,
+              -0.3719151914119721,
+              0.7909057805401543
+            ],
+            "closest_contact_pad_button": [
+              0.13187395036220548,
+              -0.3719151914119721,
+              0.769862949848175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104283069197921
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d065cc1f9a74ceb6770de66327d624463da9b5b48e3f12c69a931dfa66164a4",
+    "visual_seed": 8679094978300066592,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2a1f13a1cbf370734f1845cec9c6701d46bdeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_32_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
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+              -0.09556453655030597,
+              1.1640530054665197
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+            "lift_margin": 0.3029464974517537,
+            "gripper_z": 1.1581223567312364,
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+              -0.1003123352817377,
+              1.1581223567312364
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+              0.004757424058850213,
+              0.004747798731431732,
+              0.0059306487352832615
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+            "object_to_gripper_z": 0.0059306487352832615,
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+              0.21355634141614424,
+              -0.11928764232926235,
+              1.1640530054665197
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+              -0.09556453655030597,
+              1.1640530054665197
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+              0.20815117528623156,
+              -0.10742608943978416,
+              1.1640530054665197
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+              0.011861552889478183,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.214426709028745,
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+            "object_to_finger_line_xy": 0.009837126054918498,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881708368832488,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5663188479518564,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.28178376084595036,
+              -0.31764339848994155,
+              0.8515395687318801
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+              0.27370700803166476,
+              -0.31813150042792654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008091488090885083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18331454280589546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395687318801,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756537474713542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647406116793448,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15082628215466015,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.00704801082611084,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147977889202854,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00704801082611084,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021091952877553943,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00704801082611084,
+            "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": 0.00704803677614746,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.37439295649528503,
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+            "button_final": [
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+            "min_active_finger_to_button": 0.14633244331482187,
+            "closest_active_finger": [
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+              -0.4377758502960205,
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+              -0.374393492937088,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12733704596757886,
+              -0.0633823573589325,
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+            "min_contact_pad_to_button": 0.021091952877553943,
+            "closest_contact_pad": [
+              0.12938781082630155,
+              -0.37439242005348206,
+              0.7908527999692287
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+            "closest_contact_pad_button": [
+              0.12938781082630155,
+              -0.37439242005348206,
+              0.7697608470916748
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091952877553943
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "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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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b213d8e1f3e35882a7beee369fc9515088516f8a6cbe782dd430443db5a19658",
+    "visual_seed": 1366475556664575949,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a1614c206a40778834992cd9ba546eb37229fbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.09663944800945168,
+              1.16603185025558
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+            "current_z": 1.16603185025558,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.304925342240814,
+            "gripper_z": 1.159863402161588,
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+            "gripper_position": [
+              0.20816429546420262,
+              -0.10116181898169756,
+              1.159863402161588
+            ],
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+              0.004488022791927282,
+              0.004522370972245879,
+              0.006168448093992085
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+            "object_to_gripper_xy": 0.00637135682499975,
+            "object_to_gripper_z": 0.006168448093992085,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2126523182561299,
+              -0.1202949634858542,
+              1.16603185025558
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+            "finger_b": [
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+              -0.09663944800945168,
+              1.16603185025558
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+            "finger_midpoint": [
+              0.20748310312824475,
+              -0.10846720574765294,
+              1.16603185025558
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+              0.011827757738201258,
+              0.0
+            ],
+            "finger_gap": 0.025816013491779588,
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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": 0.015120653047128273,
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+            "object_to_finger_line_xy": 0.009473224709731288,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866350096130488,
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+            "object_tilt_deg": 1.2792731056472366,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "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"
+                }
+              ],
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+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.311481777886349,
+              0.8515395662223741
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+              0.2729976632408153,
+              -0.3122307297181969,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008550799392666732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846246209709653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395662223741,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578591664805248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748048202556845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "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
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511874662052802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006759166717529297,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112896249749584,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006759166717529297,
+            "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": 0.006759183981895369,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.14675542511284326,
+            "closest_active_finger": [
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+              -0.3684924840927124,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06108671426773071,
+              0.03419989347457886
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+            "min_contact_pad_to_button": 0.02112896249749584,
+            "closest_contact_pad": [
+              0.12868233025074002,
+              -0.3699683265722302,
+              0.7911270787163219
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+            "closest_contact_pad_button": [
+              0.12868233025074002,
+              -0.3684929311275482,
+              0.7700496912002563
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001475395444682004,
+              0.021077387516065582
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16058af5c9c9cd999b3851572426b5f3b58f36057aa7a28aab8632a16ab4d148",
+    "visual_seed": 6701239471872934488,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0f4b8aa7c8bc4c137508486d2bc05bd6a77e8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.09466372751861411,
+              1.1677191380579046
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+            "lift_margin": 0.30661263004313866,
+            "gripper_z": 1.1615292125193368,
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+              -0.09912309714503263,
+              1.1615292125193368
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+              0.0046040817526391,
+              0.004459369626418519,
+              0.0061899255385677865
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+            "object_to_gripper_z": 0.0061899255385677865,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.11856385557790321,
+              1.1677191380579046
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+              -0.09466372751861411,
+              1.1677191380579046
+            ],
+            "finger_midpoint": [
+              0.20791480929483364,
+              -0.10661379154825866,
+              1.1677191380579046
+            ],
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+              0.011950064029644547,
+              0.0
+            ],
+            "finger_gap": 0.02592640485990266,
+            "fingertip_max_gap": 0.09206339915882572,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2180466653190511,
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+            "object_to_finger_line_xy": 0.009262701096454566,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853169957941286,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.104612070512695,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28357627641361105,
+              -0.3103134544443691,
+              0.8515395645555092
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+            "target_position": [
+              0.2761313072698006,
+              -0.31012461324150153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074473637316965985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18585837758523516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395645555092,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514083122442941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572591080593338,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15458206146779532,
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+            "object_tilt_deg": 0.7682086026168429,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "max_z_decrease": 0.0068582892417907715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511393168293813,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068582892417907715,
+            "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": 0.02109270361037417,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0068582892417907715,
+            "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": 0.006858309056254344,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.36638608574867243,
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+            "button_final": [
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+              0.7699505686759949
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+            "min_active_finger_to_button": 0.1461417267341427,
+            "closest_active_finger": [
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+              -0.4295823872089386,
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+            "closest_active_finger_button": [
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+              -0.36638677120208735,
+              0.7767202258110046
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12723340094089505,
+              -0.06319561600685125,
+              0.03428381681442261
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+            "min_contact_pad_to_button": 0.02109270361037417,
+            "closest_contact_pad": [
+              0.13181474804878232,
+              -0.3666490407280656,
+              0.7910416383389246
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+            "closest_contact_pad_button": [
+              0.13181474804878232,
+              -0.3663865029811859,
+              0.7699505686759949
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00026253774687967635,
+              0.02109106966292973
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cec5fecc64d5215f072eaeed562d02de82ddc968fd2b01ded398f1f1b98bc93",
+    "visual_seed": 7597222287601021699,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3625e98679584b81313a3c16c89a857317cdc673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.21434386767103913,
+              -0.09120090760264342,
+              1.1648800837143392
+            ],
+            "current_z": 1.1648800837143392,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30377363530421786,
+            "gripper_z": 1.1587079885706297,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20966405087677034,
+              -0.09567633590959843,
+              1.1587079885706297
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+              0.004679816794268793,
+              0.004475428306955007,
+              0.006172095143709422
+            ],
+            "object_to_gripper_xy": 0.006475348929487461,
+            "object_to_gripper_z": 0.006172095143709422,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21434386767103913,
+              -0.11522790952666521,
+              1.1648800837143392
+            ],
+            "finger_b": [
+              0.20429805278195035,
+              -0.09120090760264342,
+              1.1648800837143392
+            ],
+            "finger_midpoint": [
+              0.20932096022649474,
+              -0.10321440856465432,
+              1.1648800837143392
+            ],
+            "object_minus_finger_midpoint": [
+              0.005022907444544394,
+              0.012013500962010898,
+              0.0
+            ],
+            "finger_gap": 0.026042565508082823,
+            "fingertip_max_gap": 0.09206446343410235,
+            "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": 1.1648800837143392,
+            "object_top_z": 1.2151048254227077,
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+            "fingertip_min_top_clearance": 0.015067422512510597,
+            "object_projection_between_fingers": 0.8512000408258141,
+            "object_to_finger_line_xy": 0.009268319344097992,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853223171705118,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2374563741721718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.273874263796043,
+              -0.3150798196290645,
+              0.8515396068471718
+            ],
+            "target_position": [
+              0.26696541637297894,
+              -0.31471038391532496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006918717761389419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413720359935143,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396068471718,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753596258215149,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867351578352037,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522187850695974,
+            "release_required_pad_clearance": 0.053367578917601854,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7511732786160947,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007050454616546631,
+            "max_z_decrease": 0.007050454616546631,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512479278453673,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007050454616546631,
+            "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": 0.021107190049355906,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007050454616546631,
+            "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": 0.007050475546523415,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12266534566879272,
+              -0.37097182869911194,
+              0.7768088579177856
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+            "button_final": [
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+              -0.37097182869911194,
+              0.7768088579177856
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+            "closest_ee": [
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+              -0.3697594399628413,
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+            "closest_button": [
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+              0.001213968259357212,
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+            "button_min_z_position": [
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+              -0.37097281217575073,
+              0.769758403301239
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+            "min_active_finger_to_button": 0.1450250961605265,
+            "closest_active_finger": [
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+              -0.4325740337371826,
+              0.8106920123100281
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+            "closest_active_finger_button": [
+              0.12266549468040465,
+              -0.370973140001297,
+              0.7763484120368958
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12672065943479538,
+              -0.06160089373588562,
+              0.034343600273132324
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+            "min_contact_pad_to_button": 0.021107190049355906,
+            "closest_contact_pad": [
+              0.12264819443225858,
+              -0.37097281217575073,
+              0.7908655933505949
+            ],
+            "closest_contact_pad_button": [
+              0.12264819443225858,
+              -0.37097281217575073,
+              0.769758403301239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021107190049355906
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e7db9e09311d1ca30e426388b119206057e2f7900463dfe229d036cf60917f4",
+    "visual_seed": 3421856098832672450,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..147286adb2c13176ca19ad41e769b844fb58f746
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.20701714342227798,
+              -0.0949762520508714,
+              1.1638249085263666
+            ],
+            "current_z": 1.1638249085263666,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.3027185197208899,
+            "gripper_z": 1.1578745951182043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2024604576280598,
+              -0.09966494456686906,
+              1.1578745951182043
+            ],
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+              0.004556685794218168,
+              0.004688692515997656,
+              0.005950313408162211
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+            "object_to_gripper_xy": 0.006538136044531506,
+            "object_to_gripper_z": 0.005950313408162211,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20701714342227798,
+              -0.11853981392654846,
+              1.1638249085263666
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+              0.19621685947513573,
+              -0.0949762520508714,
+              1.1638249085263666
+            ],
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+              0.20161700144870687,
+              -0.10675803298870992,
+              1.1638249085263666
+            ],
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+              0.00540014197357111,
+              0.01178178093783852,
+              0.0
+            ],
+            "finger_gap": 0.025920794386124813,
+            "fingertip_max_gap": 0.09244545129832207,
+            "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": 1.2141442578084232,
+            "finger_top_clearance": 0.050319349282056614,
+            "fingertip_min_top_clearance": 0.015095804784617016,
+            "object_projection_between_fingers": 0.8263904014124268,
+            "object_to_finger_line_xy": 0.009818108012908574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872272564916104,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5702466338325958,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2846498657719462,
+              -0.31124989667751357,
+              0.8515396033263486
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+            "target_position": [
+              0.2755922228824014,
+              -0.3120408995564996,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009092116380089112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18678365342673617,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396033263486,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540347553831714,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855753434583557,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15500079380403664,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6230659966374479,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "max_z_decrease": 0.006911635398864746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512402333365942,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006911635398864746,
+            "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": 0.021098395568113437,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006911635398864746,
+            "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": 0.006911653882265666,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3683023452758789,
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.36830347776412964,
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+            "min_active_finger_to_button": 0.14553093310263426,
+            "closest_active_finger": [
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+              -0.4312259554862976,
+              0.8109260201454163
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+              0.13129283487796783,
+              -0.3683032989501953,
+              0.7766318321228027
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12666451930999756,
+              -0.0629226565361023,
+              0.034294188022613525
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+            "min_contact_pad_to_button": 0.021098395568113437,
+            "closest_contact_pad": [
+              0.1312762051820755,
+              -0.36830347776412964,
+              0.7909956180870343
+            ],
+            "closest_contact_pad_button": [
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+              -0.36830347776412964,
+              0.7698972225189209
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098395568113437
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94e9db3f535f1aca56c55b6e19be9c138112e4e8f253d6da547f4ca7e533775d",
+    "visual_seed": 7715864350167338580,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72242aed47fe6120c6a4ee0b8f7fecf2fbaa4ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.09055458622158591,
+              1.1641933439865375
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+            "lift_margin": 0.3030867763671268,
+            "gripper_z": 1.158176252432736,
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+              -0.09515416597596336,
+              1.158176252432736
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+              0.004792421138130415,
+              0.004599579754377456,
+              0.00601709155380159
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+            "object_to_gripper_z": 0.00601709155380159,
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+              -0.11453989011867817,
+              1.1641933439865375
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+            "finger_b": [
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+              -0.09055458622158591,
+              1.1641933439865375
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+            "finger_midpoint": [
+              0.20968088607648624,
+              -0.10254723817013203,
+              1.1641933439865375
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+              0.011992651948546124,
+              0.0
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+            "finger_gap": 0.026122500008475824,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009501788509022176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048494416012887995,
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+            "object_tilt_deg": 1.1590558972923064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2812476357311704,
+              -0.3177749507024121,
+              0.8515395910744346
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+            "target_position": [
+              0.27428644801272595,
+              -0.31759965017596503,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006963394626616709,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848164185835416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395910744346,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553213576259767,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867433826868433,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15249771416377297,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.7592002442522772,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "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
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007228493690490723,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035103288731310855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007228493690490723,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021159885642662125,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007228493690490723,
+            "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": 0.007228511706384882,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.37386110424995417,
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+              -0.37386161088943476,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14110875129699704,
+              0.013148844242095892,
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+            "min_contact_pad_to_button": 0.021159885642662125,
+            "closest_contact_pad": [
+              0.12997023761272428,
+              -0.3755319562570734,
+              0.7906741906206106
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+            "closest_contact_pad_button": [
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+              -0.37386125326156616,
+              0.7695803642272949
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+            "closest_contact_pad_minus_button": [
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+              -0.001670702995507256,
+              0.021093826393315696
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "225859323f86c842896c7350a3d4f70560c9c41c19eaf91e24bf324711b8088d",
+    "visual_seed": 422185112398292556,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea0576ed9f93a20e40e390afc5de1de16b72eeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2172187461828478,
+              -0.09049416369332779,
+              1.1655427908378067
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+            "current_z": 1.1655427908378067,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30443634242768525,
+            "gripper_z": 1.1594807388663229,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21241748521506626,
+              -0.09509327787398898,
+              1.1594807388663229
+            ],
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+              0.004801260967781551,
+              0.004599114180661196,
+              0.006062051971483795
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+            "object_to_gripper_xy": 0.00664860572808326,
+            "object_to_gripper_z": 0.006062051971483795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2172187461828478,
+              -0.11459382094989325,
+              1.1655427908378067
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+              -0.09049416369332779,
+              1.1655427908378067
+            ],
+            "finger_midpoint": [
+              0.2120759139946244,
+              -0.10254399232161052,
+              1.1655427908378067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005142832188223423,
+              0.01204982862828273,
+              0.0
+            ],
+            "finger_gap": 0.026202831365118452,
+            "fingertip_max_gap": 0.09267483467809179,
+            "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": 1.1655427908378067,
+            "object_top_z": 1.2156730556988289,
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+            "fingertip_min_top_clearance": 0.015039079458306702,
+            "object_projection_between_fingers": 0.8459122000184033,
+            "object_to_finger_line_xy": 0.009460084014371657,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488374173390459,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9969598702517148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 317,
+            "max_stable_success_frames": 317,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2776710953834569,
+              -0.3147094847807138,
+              0.8515395847583428
+            ],
+            "target_position": [
+              0.2711241600809013,
+              -0.31407524590116936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006577584724819201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18222185130934065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395847583428,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752541056082813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08812195916490133,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506507606531506,
+            "release_required_pad_clearance": 0.054060979582450666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.134459658102714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006693065166473389,
+            "max_z_decrease": 0.006693065166473389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516560978748347,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006693065166473389,
+            "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": 0.02109402168982466,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006693065166473389,
+            "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": 0.006693084876435114,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.37033671140670765,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.37033811211585993,
+              0.7701157927513123
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+            "min_active_finger_to_button": 0.1448608118145793,
+            "closest_active_finger": [
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+              -0.42997127771377563,
+              0.8105275630950928
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+            "closest_active_finger_button": [
+              0.12682394683361053,
+              -0.37033736705780024,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12749991565942764,
+              -0.0596339106559754,
+              0.03423774242401123
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+            "min_contact_pad_to_button": 0.02109402168982466,
+            "closest_contact_pad": [
+              0.12680789828300476,
+              -0.37033811211585993,
+              0.7912098144411369
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+            "closest_contact_pad_button": [
+              0.12680789828300476,
+              -0.37033811211585993,
+              0.7701157927513123
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109402168982466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8290298ee48e645f1351eed6a223186d34b6d20df879179a3f5c765b0e1438ff",
+    "visual_seed": 1653732658564694858,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3389183f16cb438df9474d29972a8e1bc98275c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_39_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.20798205084661803,
+              -0.09158065004637973,
+              1.1666184395919
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+            "current_z": 1.1666184395919,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30551199118177874,
+            "gripper_z": 1.1607737990996336,
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+            "gripper_position": [
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+              -0.09629241751950317,
+              1.1607737990996336
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+              0.0050128349186005505,
+              0.004711767473123435,
+              0.005844640492266295
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+            "object_to_gripper_xy": 0.006879626926071281,
+            "object_to_gripper_z": 0.005844640492266295,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.11582973541909623,
+              1.1666184395919
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+              -0.09158065004637973,
+              1.1666184395919
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+              0.20281977214505223,
+              -0.10370519273273798,
+              1.1666184395919
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+            "object_minus_finger_midpoint": [
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+              0.01212454268635825,
+              0.0
+            ],
+            "finger_gap": 0.026355542623589686,
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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": 1.2170708033912248,
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+            "fingertip_min_top_clearance": 0.015135709139797482,
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+            "object_to_finger_line_xy": 0.00949937087161176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864108879962824,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.114729627466496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "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": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744817079517714,
+              -0.3140656832991423,
+              0.8515396118196819
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+            "target_position": [
+              0.26786771795689657,
+              -0.3134695183985025,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006640803885152707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476348576091672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396118196819,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521792807056579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682977715185371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15314921390517014,
+            "release_required_pad_clearance": 0.053414888575926855,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.8443452798315727,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006840407848358154,
+            "max_z_decrease": 0.006840407848358154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144582785738974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006840407848358154,
+            "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": 0.021124114230841384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006840407848358154,
+            "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": 0.0068404273918296985,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_active_finger": [
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+              -0.3697310984134674,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13950153440237043,
+              0.014126598834991455,
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+            "min_contact_pad_to_button": 0.021124114230841384,
+            "closest_contact_pad": [
+              0.12355130910873412,
+              -0.37048686895907634,
+              0.7910790646635406
+            ],
+            "closest_contact_pad_button": [
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+              -0.3697317838668823,
+              0.7699684500694275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d133575c627672e19cf2a2b13d081dabc9855e468cd1bbad8b3f0b445615c41",
+    "visual_seed": 5519843274395385163,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..691eef7f1cc6d7cf3015d302692141f5b77fc803
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_3_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21347842386936886,
+              -0.08976329085720074,
+              1.1667687624372385
+            ],
+            "current_z": 1.1667687624372385,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.30566189679460387,
+            "gripper_z": 1.1606044518619703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20880377976372408,
+              -0.09423162305127532,
+              1.1606044518619703
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+            "object_minus_gripper": [
+              0.004674644105644776,
+              0.004468332194074581,
+              0.006164310575268228
+            ],
+            "object_to_gripper_xy": 0.006466706279942117,
+            "object_to_gripper_z": 0.006164310575268228,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21347842386936886,
+              -0.11371531106821409,
+              1.1667687624372385
+            ],
+            "finger_b": [
+              0.203377920302892,
+              -0.08976329085720074,
+              1.1667687624372385
+            ],
+            "finger_midpoint": [
+              0.20842817208613043,
+              -0.10173930096270742,
+              1.1667687624372385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005050251783238424,
+              0.011976010105506682,
+              0.0
+            ],
+            "finger_gap": 0.025994604141729175,
+            "fingertip_max_gap": 0.09222772711846641,
+            "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": 1.1667687624372385,
+            "object_top_z": 1.217042185012995,
+            "finger_top_clearance": 0.05027342257575662,
+            "fingertip_min_top_clearance": 0.015082026772726985,
+            "object_projection_between_fingers": 0.8490199251641553,
+            "object_to_finger_line_xy": 0.009306833997033219,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861386355923321,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2204878766733516,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799475214474308,
+              -0.3180610020807372,
+              0.8515395311628917
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+            "target_position": [
+              0.27284254754276926,
+              -0.3179481216510089,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007105870543243587,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18248463322219433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395311628917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541222000235429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661167530662663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15055335424726288,
+            "release_required_pad_clearance": 0.053305837653313315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6298673487191933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007186949253082275,
+            "max_z_decrease": 0.007186949253082275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147019055724565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007186949253082275,
+            "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": 0.021124483171479223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007186949253082275,
+            "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": 0.007186969367588813,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3742095828056335,
+              0.7768088579177856
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+            "button_final": [
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+              -0.3742095828056335,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              -0.3742103278636932,
+              0.7696219086647034
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+            "min_active_finger_to_button": 0.14448504074164223,
+            "closest_active_finger": [
+              -0.01099616289138794,
+              -0.35925549268722534,
+              0.8108199238777161
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+            "closest_active_finger_button": [
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3df3d09fe4e18026f91e699571010dcf2fc63abb848e2fbf7654dbac01d665a",
+    "visual_seed": 4882163715130488119,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a082c597e319b0f795bce88517f44e9ac70a13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_40_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.20702359802800352,
+              -0.09659822372626403,
+              1.1629576714442598
+            ],
+            "current_z": 1.1629576714442598,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30185122303413847,
+            "gripper_z": 1.157029196734296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2021732405340933,
+              -0.10131342579290997,
+              1.157029196734296
+            ],
+            "object_minus_gripper": [
+              0.004850357493910218,
+              0.0047152020666459404,
+              0.005928474709963716
+            ],
+            "object_to_gripper_xy": 0.006764547165038703,
+            "object_to_gripper_z": 0.005928474709963716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20702359802800352,
+              -0.12041528393685855,
+              1.1629576714442598
+            ],
+            "finger_b": [
+              0.19628646518351722,
+              -0.09659822372626403,
+              1.1629576714442598
+            ],
+            "finger_midpoint": [
+              0.20165503160576037,
+              -0.10850675383156129,
+              1.1629576714442598
+            ],
+            "object_minus_finger_midpoint": [
+              0.005368566422243148,
+              0.011908530105297258,
+              0.0
+            ],
+            "finger_gap": 0.026125435475705106,
+            "fingertip_max_gap": 0.09262124656459303,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062717737852553,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629576714442598,
+            "object_top_z": 1.213271872416687,
+            "finger_top_clearance": 0.050314200972427336,
+            "fingertip_min_top_clearance": 0.0150942602917282,
+            "object_projection_between_fingers": 0.831092250191643,
+            "object_to_finger_line_xy": 0.009788427821005733,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881062328229652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.564196586934533,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2781429737887572,
+              -0.3172143498809925,
+              0.8515396044485031
+            ],
+            "target_position": [
+              0.269308284218775,
+              -0.31784186369955464,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008856947182321814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18390682856100074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396044485031,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543346606312326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633561540801009,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15198137431865394,
+            "release_required_pad_clearance": 0.053167807704005046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3596751907975961,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0069963932037353516,
+            "max_z_decrease": 0.0069963932037353516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512525991461583,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069963932037353516,
+            "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": 0.02124319795422528,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0069963932037353516,
+            "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": 0.0069964110533094976,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1250082105398178,
+              -0.374103307723999,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1250082105398178,
+              -0.374103307723999,
+              0.7768088579177856
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670225780201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13630784565939622,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4c63dbe6b2c061c50b85216876f9f3a0a0aa6e5259280c4101ae11f1f6ae45e",
+    "visual_seed": 21931639411089920,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d58e037ba3df77b7dcc984c60da173ba578051f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_43_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2117874522177449,
+              -0.08680782809009142,
+              1.1679167945525455
+            ],
+            "current_z": 1.1679167945525455,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30681028653777964,
+            "gripper_z": 1.1617480871215544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20703053023888948,
+              -0.09130861088219223,
+              1.1617480871215544
+            ],
+            "object_minus_gripper": [
+              0.004756921978855411,
+              0.00450078279210081,
+              0.006168707430991072
+            ],
+            "object_to_gripper_xy": 0.006548690896247008,
+            "object_to_gripper_z": 0.006168707430991072,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2117874522177449,
+              -0.11083299089041128,
+              1.1679167945525455
+            ],
+            "finger_b": [
+              0.20165858917624857,
+              -0.08680782809009142,
+              1.1679167945525455
+            ],
+            "finger_midpoint": [
+              0.20672302069699672,
+              -0.09882040949025135,
+              1.1679167945525455
+            ],
+            "object_minus_finger_midpoint": [
+              0.005064431520748175,
+              0.012012581400159927,
+              0.0
+            ],
+            "finger_gap": 0.026073018891092436,
+            "fingertip_max_gap": 0.09209827148135166,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013036509445546223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1679167945525455,
+            "object_top_z": 1.2181854634854028,
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+            "fingertip_min_top_clearance": 0.015080600679857191,
+            "object_projection_between_fingers": 0.8490827930617881,
+            "object_to_finger_line_xy": 0.009333310598613856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854913574067583,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1300310206128845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27601606150149605,
+              -0.31210884229304997,
+              0.851539607785757
+            ],
+            "target_position": [
+              0.26880376812418955,
+              -0.3119235954760029,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007214672005265746,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18250780719961673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539607785757,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571916144821504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744255124115434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14988556975502088,
+            "release_required_pad_clearance": 0.05372127562057717,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.451780426359399,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007006227970123291,
+            "max_z_decrease": 0.007006227970123291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350943233438059,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007006227970123291,
+            "ee_contacted_z_ok": true,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2681171398906631,
+              0.14199606644233048,
+              0.8329413723004998
+            ],
+            "target_position": [
+              0.28113112098092663,
+              0.18825199562109735,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048051791725271104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16567818610047458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329413723004998,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670156097632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13553810042261655,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "def2250a06a9ee5289e3e467d53220dbeabad592cf0fb18db7878cbb7b479722",
+    "visual_seed": 2974730430902877545,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17484eb3960b2ef282b16c79061dc49f60d8e8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_44_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21716340027750694,
+              -0.0912870374835832,
+              1.164603236823126
+            ],
+            "current_z": 1.164603236823126,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30349672880836,
+            "gripper_z": 1.158446882155995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21247685843908332,
+              -0.09581001234468439,
+              1.158446882155995
+            ],
+            "object_minus_gripper": [
+              0.004686541838423625,
+              0.004522974861101189,
+              0.006156354667131048
+            ],
+            "object_to_gripper_xy": 0.006513138720881693,
+            "object_to_gripper_z": 0.006156354667131048,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21716340027750694,
+              -0.1151673502123499,
+              1.164603236823126
+            ],
+            "finger_b": [
+              0.2068633038814484,
+              -0.0912870374835832,
+              1.164603236823126
+            ],
+            "finger_midpoint": [
+              0.2120133520794777,
+              -0.10322719384796655,
+              1.164603236823126
+            ],
+            "object_minus_finger_midpoint": [
+              0.00515004819802925,
+              0.01194015636438335,
+              0.0
+            ],
+            "finger_gap": 0.02600694756775187,
+            "fingertip_max_gap": 0.0922266775667489,
+            "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": 1.164603236823126,
+            "object_top_z": 1.21483597592213,
+            "finger_top_clearance": 0.05023273909900405,
+            "fingertip_min_top_clearance": 0.015069821729701182,
+            "object_projection_between_fingers": 0.8431430326514793,
+            "object_to_finger_line_xy": 0.009457839003732914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048613338783374455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2946861688423708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 320,
+            "max_stable_success_frames": 320,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27672309369479864,
+              -0.3154920102237959,
+              0.8515396073795327
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+            "target_position": [
+              0.2696010154347297,
+              -0.31530647515718735,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007124494508629234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417360881520947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396073795327,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586918060373851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766950419340065,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511487892174993,
+            "release_required_pad_clearance": 0.05383475209670033,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.678797415435787,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2738428261856861,
+              0.1431363957055769,
+              0.8324271505901024
+            ],
+            "target_position": [
+              0.2864975877488585,
+              0.18919382192613798,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04776431199424076,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16795404727637703,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324271505901024,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669797337978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1379919385737078,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cf9d465bf73946bac957a04bdca01454dee4b6f4490d28516036bd480931c69",
+    "visual_seed": 6222177000788213565,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad75f6e183aa756cc610e572f57289f0415ae64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21707701650876915,
+              -0.08844688553180931,
+              1.165282019761953
+            ],
+            "current_z": 1.165282019761953,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30417545214254205,
+            "gripper_z": 1.1592636773015763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21226561440250685,
+              -0.09310496940490647,
+              1.1592636773015763
+            ],
+            "object_minus_gripper": [
+              0.004811402106262297,
+              0.0046580838730971574,
+              0.00601834246037658
+            ],
+            "object_to_gripper_xy": 0.00669681533245117,
+            "object_to_gripper_z": 0.00601834246037658,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21707701650876915,
+              -0.11242266309753701,
+              1.165282019761953
+            ],
+            "finger_b": [
+              0.20659376740725516,
+              -0.08844688553180931,
+              1.165282019761953
+            ],
+            "finger_midpoint": [
+              0.21183539195801215,
+              -0.10043477431467315,
+              1.165282019761953
+            ],
+            "object_minus_finger_midpoint": [
+              0.005241624550756996,
+              0.011987888782863845,
+              0.0
+            ],
+            "finger_gap": 0.026167468765733642,
+            "fingertip_max_gap": 0.09208647413056001,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013083734382866816,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165282019761953,
+            "object_top_z": 1.2154236949046315,
+            "finger_top_clearance": 0.05014167514267864,
+            "fingertip_min_top_clearance": 0.015042502542803593,
+            "object_projection_between_fingers": 0.8395024592576925,
+            "object_to_finger_line_xy": 0.009605210609944433,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854323706528001,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1530180816947333,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2778361722997213,
+              -0.31513989802164866,
+              0.8515395633802564
+            ],
+            "target_position": [
+              0.26977120673771976,
+              -0.3150614258005441,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008065347320838441,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18663669208835107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633802564,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522006259457588,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636870126166264,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551503402276403,
+            "release_required_pad_clearance": 0.05318435063083132,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3921007608579479,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27563896426084894,
+              0.1362786858705492,
+              0.834023703174316
+            ],
+            "target_position": [
+              0.28627335864183867,
+              0.18333129311611734,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482393842462372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1694389644606708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834023703174316,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673641709293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137962146242961,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a558b26a064ad8c9759e0744a3e8adb1665c1e254bc630c643aeb8311196572d",
+    "visual_seed": 4450336636068159550,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08441e3dbd1c13ddf45c2d7d4e5811fd7c0a404a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_46_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21222985733104277,
+              -0.0931177162790951,
+              1.1647036436999394
+            ],
+            "current_z": 1.1647036436999394,
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+            "lift_margin": 0.30359707608052866,
+            "gripper_z": 1.158757614909678,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20744084742834243,
+              -0.09773756310655969,
+              1.158757614909678
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+              0.004789009902700342,
+              0.004619846827464594,
+              0.005946028790261293
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+            "object_to_gripper_z": 0.005946028790261293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21222985733104277,
+              -0.11705421022130531,
+              1.1647036436999394
+            ],
+            "finger_b": [
+              0.20183434702623498,
+              -0.0931177162790951,
+              1.1647036436999394
+            ],
+            "finger_midpoint": [
+              0.20703210217863888,
+              -0.1050859632502002,
+              1.1647036436999394
+            ],
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+              0.005197755152403893,
+              0.011968246971105101,
+              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_top_z": 1.2150946231444495,
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+            "object_projection_between_fingers": 0.8413170577239738,
+            "object_to_finger_line_xy": 0.009535108964949215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486584879286458,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2908055977523174,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.280617845307357,
+              -0.31161761683157146,
+              0.8515395729717419
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+            "target_position": [
+              0.2725695833380287,
+              -0.3116788148365217,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008048494637057658,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18437285497114977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395729717419,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515390124896791,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552212340316755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305118373762916,
+            "release_required_pad_clearance": 0.052761061701583775,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.5719805641215907,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            -2.5755244887293305e-05,
+            -1.4087760591974252e-06,
+            -0.000315143981290289
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2773403500134992,
+              0.13924755922343834,
+              0.83381900056511
+            ],
+            "target_position": [
+              0.2868913371792122,
+              0.18688742464967217,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04858783935996006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.169324155406309,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83381900056511,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672915812241,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13817734562485917,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2001c1a206bb4c9cd37c1dc076e554e196437360d3304c917194f5e4ce596321",
+    "visual_seed": 6631905183675205680,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8c1f8bc39d70f052b0818b8bad731582a54d5be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.20875551664362918,
+              -0.09820371638553692,
+              1.1656020019676585
+            ],
+            "current_z": 1.1656020019676585,
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+            "lift_margin": 0.30449549395289244,
+            "gripper_z": 1.1594702004460464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2040938669337197,
+              -0.10270148924474287,
+              1.1594702004460464
+            ],
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+              0.004661649709909482,
+              0.0044977728592059535,
+              0.006131801521612079
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+            "object_to_gripper_xy": 0.00647772635350621,
+            "object_to_gripper_z": 0.006131801521612079,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20875551664362918,
+              -0.12214109062715116,
+              1.1656020019676585
+            ],
+            "finger_b": [
+              0.19868989953888538,
+              -0.09820371638553692,
+              1.1656020019676585
+            ],
+            "finger_midpoint": [
+              0.20372270809125728,
+              -0.11017240350634404,
+              1.1656020019676585
+            ],
+            "object_minus_finger_midpoint": [
+              0.005032808552371898,
+              0.01196868712080712,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.0923175442293683,
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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": 1.1656020019676585,
+            "object_top_z": 1.216024485800872,
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+            "object_projection_between_fingers": 0.849748681514953,
+            "object_to_finger_line_xy": 0.009278668428066843,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048658772114684154,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1083244937932697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2815426834345526,
+              -0.31829287063135564,
+              0.8515395815178632
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+            "target_position": [
+              0.27485663240744923,
+              -0.318017322101739,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006691726632880605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831142195345353,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395815178632,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559871415463378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723414405127862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15058518125552797,
+            "release_required_pad_clearance": 0.05361707202563931,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2444381382109615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            0.2795722652966284,
+            -0.31954313304657894,
+            1.0433976557123525
+          ],
+          "frame_world": [
+            0.2795706044049573,
+            -0.3195461098393439,
+            1.0432891676866443
+          ],
+          "center_minus_frame": [
+            1.660891671084741e-06,
+            2.9767927649526627e-06,
+            0.00010848802570828653
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27050284499317,
+              0.14012477889044495,
+              0.8337885874902788
+            ],
+            "target_position": [
+              0.28020900276444843,
+              0.18686170974632604,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773416181843313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16952192762915727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337885874902788,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671665573536,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138602617371297,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0482df1b90088abfde48d5cc21e11d7f6a52b59ec980daae822bbf38523db8ae",
+    "visual_seed": 2858750949444358069,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe7b251daff0c7148d69d5d84ac46d62889d6799
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_48_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21687353956285305,
+              -0.09720678789837389,
+              1.167078264234793
+            ],
+            "current_z": 1.167078264234793,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3059718158246718,
+            "gripper_z": 1.1608002217082674,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2123882312970144,
+              -0.10170019464778636,
+              1.1608002217082674
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+              0.00448530826583865,
+              0.004493406749412468,
+              0.00627804252652564
+            ],
+            "object_to_gripper_xy": 0.006348912856171995,
+            "object_to_gripper_z": 0.00627804252652564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21687353956285305,
+              -0.12102641382435503,
+              1.167078264234793
+            ],
+            "finger_b": [
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+              -0.09720678789837389,
+              1.167078264234793
+            ],
+            "finger_midpoint": [
+              0.2118121141530957,
+              -0.10911660086136446,
+              1.167078264234793
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050614254097573474,
+              0.011909812962990568,
+              0.0
+            ],
+            "finger_gap": 0.025881396561387923,
+            "fingertip_max_gap": 0.0920475147078329,
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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": 1.167078264234793,
+            "object_top_z": 1.2174079065062668,
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+            "object_projection_between_fingers": 0.8470215490278392,
+            "object_to_finger_line_xy": 0.009316441609069873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852375735391645,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2587754784996392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "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": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2775329453851956,
+              -0.3127781762419305,
+              0.8515395891146595
+            ],
+            "target_position": [
+              0.27042529386139647,
+              -0.3127443550821489,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007107731990910515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18397670784112938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395891146595,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591679375974153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08780355209464606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15096020513779204,
+            "release_required_pad_clearance": 0.05390177604732303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8133393306483323,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.277108467392264,
+            -0.3123842172779548,
+            1.0434304066900917
+          ],
+          "object_origin_world": [
+            0.277108467392264,
+            -0.3123842172779548,
+            1.0434304066900917
+          ],
+          "frame_world": [
+            0.2771069431853962,
+            -0.31238640399360834,
+            1.0433250937585945
+          ],
+          "center_minus_frame": [
+            1.5242068678311682e-06,
+            2.186715653551552e-06,
+            0.00010531293149718124
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2658413112910577,
+              0.14397416763305207,
+              0.8327227426079666
+            ],
+            "target_position": [
+              0.27839464847444556,
+              0.18958567480343952,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047307460942161476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16577746160343676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327227426079666,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671400766018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13537214390856153,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b82f4de9dc3a2fc774373bab5bc9e3af03325b455c0909c8a22c8744f371b4d1",
+    "visual_seed": 2324823973713701169,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f373d31bfdfd4f209a46dc9755183635a2e093b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_49_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.20908755446845545,
+              -0.09217317912680133,
+              1.1642641816813266
+            ],
+            "current_z": 1.1642641816813266,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30315767366656077,
+            "gripper_z": 1.158101230905129,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20439612495706694,
+              -0.09675474851680775,
+              1.158101230905129
+            ],
+            "object_minus_gripper": [
+              0.004691429511388512,
+              0.004581569390006424,
+              0.006162950776197551
+            ],
+            "object_to_gripper_xy": 0.00655746055541098,
+            "object_to_gripper_z": 0.006162950776197551,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20908755446845545,
+              -0.11597525751834212,
+              1.1642641816813266
+            ],
+            "finger_b": [
+              0.19868440369363596,
+              -0.09217317912680133,
+              1.1642641816813266
+            ],
+            "finger_midpoint": [
+              0.20388597908104572,
+              -0.10407421832257172,
+              1.1642641816813266
+            ],
+            "object_minus_finger_midpoint": [
+              0.005201575387409729,
+              0.011901039195770388,
+              0.0
+            ],
+            "finger_gap": 0.025976229168235335,
+            "fingertip_max_gap": 0.09225533991350696,
+            "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": 1.1642641816813266,
+            "object_top_z": 1.2147014625315848,
+            "finger_top_clearance": 0.050437280850258226,
+            "fingertip_min_top_clearance": 0.015131184255077467,
+            "object_projection_between_fingers": 0.8396098950632138,
+            "object_to_finger_line_xy": 0.009532430925889216,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862766995675348,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0252152115861526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2831805013022396,
+              -0.3090131491134739,
+              0.8515395806182773
+            ],
+            "target_position": [
+              0.274664546637423,
+              -0.3094885127747929,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008529211831330836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18676730800818706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806182773,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546827128957954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586123007748463,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15473788914255265,
+            "release_required_pad_clearance": 0.052930615038742315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8987391019084349,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2839039376470342,
+            -0.3072719818544088,
+            1.0433683970999659
+          ],
+          "object_origin_world": [
+            0.2839039376470342,
+            -0.3072719818544088,
+            1.0433683970999659
+          ],
+          "frame_world": [
+            0.2839020588922352,
+            -0.3072743151400093,
+            1.0432606881604816
+          ],
+          "center_minus_frame": [
+            1.8787547990117837e-06,
+            2.3332856005087166e-06,
+            0.00010770893948430782
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2717729242474839,
+              0.1451740970339958,
+              0.8331208868724184
+            ],
+            "target_position": [
+              0.2826554545472349,
+              0.19195075406433532,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04802587957194547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16950983942597708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331208868724184,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667892851007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13947752976343838,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd4ae594cd77c15a73406a0dc7d5831515724259ac77ff37d26f408ab4e237e6",
+    "visual_seed": 5480432656217707304,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..529501d853af8ae545257b2bce619921cdb287cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_4_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21335881975943277,
+              -0.08782300072178484,
+              1.1673199978908846
+            ],
+            "current_z": 1.1673199978908846,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30621337066682885,
+            "gripper_z": 1.1614297603972843,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20865654566248446,
+              -0.09253354025544551,
+              1.1614297603972843
+            ],
+            "object_minus_gripper": [
+              0.004702274096948317,
+              0.004710539533660671,
+              0.005890237493600292
+            ],
+            "object_to_gripper_xy": 0.006655866914310351,
+            "object_to_gripper_z": 0.005890237493600292,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21335881975943277,
+              -0.11158446870619938,
+              1.1673199978908846
+            ],
+            "finger_b": [
+              0.20268706766915806,
+              -0.08782300072178484,
+              1.1673199978908846
+            ],
+            "finger_midpoint": [
+              0.20802294371429542,
+              -0.0997037347139921,
+              1.1673199978908846
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053358760451373555,
+              0.011880733992207265,
+              0.0
+            ],
+            "finger_gap": 0.026047910731009503,
+            "fingertip_max_gap": 0.09240620787129344,
+            "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": 1.1673199978908846,
+            "object_top_z": 1.2176964273868596,
+            "finger_top_clearance": 0.050376429495974984,
+            "fingertip_min_top_clearance": 0.015112928848792494,
+            "object_projection_between_fingers": 0.8321483302060573,
+            "object_to_finger_line_xy": 0.009735003250329556,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048703103935646724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3321143609201231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2756456017108614,
+              -0.31659963971051275,
+              0.8515395540315767
+            ],
+            "target_position": [
+              0.26715572702715407,
+              -0.31716778105587123,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008508863421947743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863651866451195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395540315767,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543136116244611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556609244629217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543114191752788,
+            "release_required_pad_clearance": 0.052783046223146085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6142097668750733,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2769670908165104,
+            -0.31632530234759904,
+            1.0433779769459228
+          ],
+          "object_origin_world": [
+            0.2769670908165104,
+            -0.31632530234759904,
+            1.0433779769459228
+          ],
+          "frame_world": [
+            0.2769926100330876,
+            -0.31632332447882267,
+            1.0436904260855069
+          ],
+          "center_minus_frame": [
+            -2.5519216577229997e-05,
+            -1.977868776370517e-06,
+            -0.00031244913958405895
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27305712178850444,
+              0.138235397252312,
+              0.8329143581745914
+            ],
+            "target_position": [
+              0.28578843307090285,
+              0.18495384685214245,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048422100532517415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1656800678874161,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329143581745914,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672865186328,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13586549317207147,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41da8d6161f757f34b1ecee0420db8fba4f8bdc17ad9c9b2b77131a90af5192c",
+    "visual_seed": 5550064175411683912,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2057d7b30d847224dbd804c2c02f172b3dc5448c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21059826971573423,
+              -0.08940349486908253,
+              1.1663006657172308
+            ],
+            "current_z": 1.1663006657172308,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3051942769117546,
+            "gripper_z": 1.160331287790277,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20596026588462232,
+              -0.09407249581667859,
+              1.160331287790277
+            ],
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+              0.004638003831111903,
+              0.004669000947596064,
+              0.005969377926953845
+            ],
+            "object_to_gripper_xy": 0.006581082691021412,
+            "object_to_gripper_z": 0.005969377926953845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21059826971573423,
+              -0.11310772071897479,
+              1.1663006657172308
+            ],
+            "finger_b": [
+              0.19996985117779864,
+              -0.08940349486908253,
+              1.1663006657172308
+            ],
+            "finger_midpoint": [
+              0.20528406044676645,
+              -0.10125560779402866,
+              1.1663006657172308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005314209268967779,
+              0.011852112924946132,
+              0.0
+            ],
+            "finger_gap": 0.025977944563807073,
+            "fingertip_max_gap": 0.09243037055895162,
+            "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": 1.1663006657172308,
+            "object_top_z": 1.2167017659888117,
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+            "fingertip_min_top_clearance": 0.015120330081474287,
+            "object_projection_between_fingers": 0.8326106877282569,
+            "object_to_finger_line_xy": 0.009698166567089068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871518527947581,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3794545034501573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.279705811769679,
+              -0.3180980127671156,
+              0.8515395674311176
+            ],
+            "target_position": [
+              0.27163465261658726,
+              -0.31870080581505716,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008093637595864022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846199535766207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674311176,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549787007122842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551060997292408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245543816598028,
+            "release_required_pad_clearance": 0.05275530498646204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5609267352158598,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2775410632855356,
+            -0.31641278387813804,
+            1.043409103632082
+          ],
+          "object_origin_world": [
+            0.2775410632855356,
+            -0.31641278387813804,
+            1.043409103632082
+          ],
+          "frame_world": [
+            0.27753946873213775,
+            -0.31641498606585017,
+            1.0433021365231443
+          ],
+          "center_minus_frame": [
+            1.5945533978767301e-06,
+            2.2021877121303213e-06,
+            0.00010696710893776107
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2683874051460361,
+              0.13727151925800213,
+              0.833619655159915
+            ],
+            "target_position": [
+              0.27855709633943704,
+              0.18390621867679707,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047730679953783293,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714044490343196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833619655159915,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669640685635,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14079644041676867,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df28838a854630074771490624c7c0b311aab8e68abfe58aa707deddfd526050",
+    "visual_seed": 8534524886234632308,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea2156db68f8e3beb83494c3f1bb2dae3153f44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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": [
+              0.20902073422017184,
+              -0.09355832841698783,
+              1.1666541549792644
+            ],
+            "current_z": 1.1666541549792644,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3055477065691432,
+            "gripper_z": 1.160600386206615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20423299621057342,
+              -0.09813803588043722,
+              1.160600386206615
+            ],
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+              0.004787738009598419,
+              0.004579707463449392,
+              0.006053768772649404
+            ],
+            "object_to_gripper_xy": 0.00662541739812123,
+            "object_to_gripper_z": 0.006053768772649404,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20902073422017184,
+              -0.11760858499887625,
+              1.1666541549792644
+            ],
+            "finger_b": [
+              0.19886803318974283,
+              -0.09355832841698783,
+              1.1666541549792644
+            ],
+            "finger_midpoint": [
+              0.20394438370495732,
+              -0.10558345670793204,
+              1.1666541549792644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005076350515214517,
+              0.01202512829094421,
+              0.0
+            ],
+            "finger_gap": 0.026105405184902637,
+            "fingertip_max_gap": 0.09234599811736272,
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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": 1.1666541549792644,
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+            "finger_top_clearance": 0.05035142185601771,
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+            "object_projection_between_fingers": 0.848747584699727,
+            "object_to_finger_line_xy": 0.009353429416304666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867299905868136,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0871568964520317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2756825125468174,
+              -0.31160168641624686,
+              0.8515395923121554
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+            "target_position": [
+              0.26874249023919067,
+              -0.3110700411475712,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006960356048512324,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18342540492883086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395923121554,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585134289141231,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08793193396615963,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504866772878631,
+            "release_required_pad_clearance": 0.053965966983079816,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9425336571087763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27342523188457973,
+            -0.3124569187564329,
+            1.0435079226316928
+          ],
+          "object_origin_world": [
+            0.27342523188457973,
+            -0.3124569187564329,
+            1.0435079226316928
+          ],
+          "frame_world": [
+            0.2734237351458253,
+            -0.31245880454544267,
+            1.0434032190674494
+          ],
+          "center_minus_frame": [
+            1.4967387544362332e-06,
+            1.8857890097812025e-06,
+            0.00010470356424341354
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27182822448420535,
+              0.1374867756093651,
+              0.8332670416296922
+            ],
+            "target_position": [
+              0.2840204856067994,
+              0.18417482893207443,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482537620745333,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16916770336334272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332670416296922,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667418549453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389001039330043,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2572935e4cf6b56e9e6a203590a6f091d1f28662e20da4d03a761c9f1f25b59c",
+    "visual_seed": 6246286305810718242,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e634195618d124f0aa57a50bd25ea642d4430755
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.20943164526053518,
+              -0.09750343018012346,
+              1.1660205539773805
+            ],
+            "current_z": 1.1660205539773805,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3049141651719043,
+            "gripper_z": 1.160020494476192,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20459778487670055,
+              -0.10217283023729014,
+              1.160020494476192
+            ],
+            "object_minus_gripper": [
+              0.004833860383834626,
+              0.004669400057166678,
+              0.006000059501188426
+            ],
+            "object_to_gripper_xy": 0.006720826073056348,
+            "object_to_gripper_z": 0.006000059501188426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20943164526053518,
+              -0.12140903026532907,
+              1.1660205539773805
+            ],
+            "finger_b": [
+              0.19890458172278452,
+              -0.09750343018012346,
+              1.1660205539773805
+            ],
+            "finger_midpoint": [
+              0.20416811349165986,
+              -0.10945623022272627,
+              1.1660205539773805
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052635317688753125,
+              0.01195280004260281,
+              0.0
+            ],
+            "finger_gap": 0.026120811284522188,
+            "fingertip_max_gap": 0.0925420905596783,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013060405642261094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660205539773805,
+            "object_top_z": 1.216457452524264,
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+            "fingertip_min_top_clearance": 0.01513106956406508,
+            "object_projection_between_fingers": 0.8375793794941441,
+            "object_to_finger_line_xy": 0.009634301487187535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877104527983915,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3606329297674284,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28241298941414894,
+              -0.31810793765148176,
+              0.8515395665506541
+            ],
+            "target_position": [
+              0.27459019787434363,
+              -0.3185242671352901,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00783386224759777,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18545661981928355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395665506541,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569715552893881,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679053168331129,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15276646091528984,
+            "release_required_pad_clearance": 0.053395265841655645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8057466023810196,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2829699401040654,
+            -0.3197209442696646,
+            1.0433722465208721
+          ],
+          "object_origin_world": [
+            0.2829699401040654,
+            -0.3197209442696646,
+            1.0433722465208721
+          ],
+          "frame_world": [
+            0.2829683414868658,
+            -0.31972390081783253,
+            1.0432627704902553
+          ],
+          "center_minus_frame": [
+            1.5986171996162923e-06,
+            2.9565481679538763e-06,
+            0.00010947603061683964
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27684917194653824,
+              0.14415394294543393,
+              0.833710754893095
+            ],
+            "target_position": [
+              0.28629996287594484,
+              0.19177962585653363,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04855433164960638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16908781131990136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833710754893095,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674489634981,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13783595276546726,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2426c518db6e5405864d7a7fc79a037ed7c8bf0a90a972722f6a0f6077743b44",
+    "visual_seed": 4627855462225935970,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d956c863c8e460b1f576b5a981615bc1646568f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_53_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 53,
+  "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": [
+              0.21068260910654857,
+              -0.09172369406340458,
+              1.1657779032239906
+            ],
+            "current_z": 1.1657779032239906,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30467139520922437,
+            "gripper_z": 1.1596774783826145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20590092517480135,
+              -0.0962542875977262,
+              1.1596774783826145
+            ],
+            "object_minus_gripper": [
+              0.004781683931747216,
+              0.004530593534321614,
+              0.006100424841376073
+            ],
+            "object_to_gripper_xy": 0.006587167752256377,
+            "object_to_gripper_z": 0.006100424841376073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21068260910654857,
+              -0.11573691435197622,
+              1.1657779032239906
+            ],
+            "finger_b": [
+              0.20052108583981076,
+              -0.09172369406340458,
+              1.1657779032239906
+            ],
+            "finger_midpoint": [
+              0.20560184747317967,
+              -0.1037303042076904,
+              1.1657779032239906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005080761633368902,
+              0.01200661014428582,
+              0.0
+            ],
+            "finger_gap": 0.02607472538163964,
+            "fingertip_max_gap": 0.09226528677412921,
+            "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": 1.1657779032239906,
+            "object_top_z": 1.2161715919038592,
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+            "fingertip_min_top_clearance": 0.015118106603960579,
+            "object_projection_between_fingers": 0.8481278484747691,
+            "object_to_finger_line_xy": 0.009358138699456444,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048632643387064606,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1201426363802627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2813157263422631,
+              -0.31853581434759626,
+              0.8515396316575626
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+            "target_position": [
+              0.2737051266610889,
+              -0.3186287228566767,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0076111667632596195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520150650253953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396316575626,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542286157638967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709505084740286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15310864348012806,
+            "release_required_pad_clearance": 0.053547525423701434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1062684056284753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+              "rod_tip_xy_range": 0.0006056871165172397,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2808829777708229,
+            -0.3200016523624499,
+            1.0433389843484078
+          ],
+          "object_origin_world": [
+            0.2808829777708229,
+            -0.3200016523624499,
+            1.0433389843484078
+          ],
+          "frame_world": [
+            0.2808812971559389,
+            -0.320004654563652,
+            1.0432302365934716
+          ],
+          "center_minus_frame": [
+            1.6806148839809687e-06,
+            3.002201202140231e-06,
+            0.00010874775493618927
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26939438129037435,
+              0.1364393423396153,
+              0.83307725597066
+            ],
+            "target_position": [
+              0.28033614186113104,
+              0.1829416075891132,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04777219691119958,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16727902724956345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83307725597066,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566852481932,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13665342825411148,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25d959280a688034d24cf7629f5efa91c2f61e9385c6eb5f872b2f340b170903",
+    "visual_seed": 7913646377832697312,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a781460e1f0e89fca3b58bd5e29f76f9fb89412
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21327046038475997,
+              -0.0847483468265405,
+              1.165707642177101
+            ],
+            "current_z": 1.165707642177101,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30460119376698,
+            "gripper_z": 1.1597188233019553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20840418986147513,
+              -0.08938693488744198,
+              1.1597188233019553
+            ],
+            "object_minus_gripper": [
+              0.004866270523284838,
+              0.004638588060901477,
+              0.005988818875145796
+            ],
+            "object_to_gripper_xy": 0.006722877955498569,
+            "object_to_gripper_z": 0.005988818875145796,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21327046038475997,
+              -0.1087570630953761,
+              1.165707642177101
+            ],
+            "finger_b": [
+              0.20281253408717778,
+              -0.0847483468265405,
+              1.165707642177101
+            ],
+            "finger_midpoint": [
+              0.20804149723596888,
+              -0.09675270496095831,
+              1.165707642177101
+            ],
+            "object_minus_finger_midpoint": [
+              0.005228963148791094,
+              0.012004358134417803,
+              0.0
+            ],
+            "finger_gap": 0.026187529080138737,
+            "fingertip_max_gap": 0.09201714337408706,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013093764540069374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165707642177101,
+            "object_top_z": 1.2159632960421445,
+            "finger_top_clearance": 0.05025565386504338,
+            "fingertip_min_top_clearance": 0.015076696159513014,
+            "object_projection_between_fingers": 0.8405215123839818,
+            "object_to_finger_line_xy": 0.009587822679668982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048508571687043534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1045884894275795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28140657375931954,
+              -0.309484321482624,
+              0.8515395701051415
+            ],
+            "target_position": [
+              0.27358876231391616,
+              -0.30965578481295114,
+              0.8084375599031817
+            ],
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+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006049819586415953,
+              "rod_tip_xy_max_step": 3.286413543120969e-05,
+              "rod_tip_xy_range": 0.0006049721246856309,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28008405877013465,
+            -0.30946091594325037,
+            1.0433260837645877
+          ],
+          "object_origin_world": [
+            0.28008405877013465,
+            -0.30946091594325037,
+            1.0433260837645877
+          ],
+          "frame_world": [
+            0.2801097185622966,
+            -0.3094594745194285,
+            1.0436396473170932
+          ],
+          "center_minus_frame": [
+            -2.565979216195835e-05,
+            -1.4414238218574127e-06,
+            -0.000313563552505558
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2720669975523661,
+              0.14295189888050747,
+              0.832954550685782
+            ],
+            "target_position": [
+              0.28279026798260964,
+              0.18952668957495333,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779330138159089,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1683950823826887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832954550685782,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673756769689,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13686846234804492,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f2d464abffc77aa9c4667407349721282223d073f60f5946e4197f92032a206",
+    "visual_seed": 7753157271390994387,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e9d9c994333f635dba7d3c7d41d1612c6640c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.20751591980770542,
+              -0.09000299318338911,
+              1.1656355326965033
+            ],
+            "current_z": 1.1656355326965033,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.30452902468173704,
+            "gripper_z": 1.159616489522505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20280052109642874,
+              -0.09463389850110239,
+              1.159616489522505
+            ],
+            "object_minus_gripper": [
+              0.004715398711276686,
+              0.004630905317713277,
+              0.006019043173998373
+            ],
+            "object_to_gripper_xy": 0.006609105012627272,
+            "object_to_gripper_z": 0.006019043173998373,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20751591980770542,
+              -0.11381797922381971,
+              1.1656355326965033
+            ],
+            "finger_b": [
+              0.19702951757155818,
+              -0.09000299318338911,
+              1.1656355326965033
+            ],
+            "finger_midpoint": [
+              0.20227271868963181,
+              -0.1019104862036044,
+              1.1656355326965033
+            ],
+            "object_minus_finger_midpoint": [
+              0.005243201118073609,
+              0.011907493020215293,
+              0.0
+            ],
+            "finger_gap": 0.02602149480648985,
+            "fingertip_max_gap": 0.0921217465217816,
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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": 1.1656355326965033,
+            "object_top_z": 1.2160300644158908,
+            "finger_top_clearance": 0.05039453171938746,
+            "fingertip_min_top_clearance": 0.015118359515816237,
+            "object_projection_between_fingers": 0.8375990585346856,
+            "object_to_finger_line_xy": 0.00959720126477526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485608732608908,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0725228403886788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006033964775947043,
+              "rod_tip_xy_max_step": 3.2728369963484086e-05,
+              "rod_tip_xy_range": 0.0006033847738193747,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2791306025480984,
+            -0.31121745566418507,
+            1.0433461293063595
+          ],
+          "object_origin_world": [
+            0.2791306025480984,
+            -0.31121745566418507,
+            1.0433461293063595
+          ],
+          "frame_world": [
+            0.27915634350418295,
+            -0.31121562214189663,
+            1.0436591915745677
+          ],
+          "center_minus_frame": [
+            -2.574095608454119e-05,
+            -1.8335222884413582e-06,
+            -0.00031306226820815297
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2679774528075973,
+              0.13889550323570837,
+              0.8325323549387279
+            ],
+            "target_position": [
+              0.28051073490060313,
+              0.18548612298360534,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04824695854161158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16569533176999793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325323549387279,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669833846947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13511505734637647,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d048b157211031b42ea1e27ea7b43963be793cab394eb22b7e1a2474e5b3c6e",
+    "visual_seed": 3433321857752288799,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5700655aa19247bf42aca8c41610d2fe3d8ac4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21206018699371612,
+              -0.0919079423921002,
+              1.1661844911239148
+            ],
+            "current_z": 1.1661844911239148,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30507804271379335,
+            "gripper_z": 1.160064793429587,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20738648507625218,
+              -0.09646404012606555,
+              1.160064793429587
+            ],
+            "object_minus_gripper": [
+              0.0046737019174639405,
+              0.004556097733965342,
+              0.0061196976943278525
+            ],
+            "object_to_gripper_xy": 0.006526983696528607,
+            "object_to_gripper_z": 0.0061196976943278525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21206018699371612,
+              -0.11581205975881445,
+              1.1661844911239148
+            ],
+            "finger_b": [
+              0.20181887392039669,
+              -0.0919079423921002,
+              1.1661844911239148
+            ],
+            "finger_midpoint": [
+              0.2069395304570564,
+              -0.10386000107545733,
+              1.1661844911239148
+            ],
+            "object_minus_finger_midpoint": [
+              0.005120656536659718,
+              0.011952058683357122,
+              0.0
+            ],
+            "finger_gap": 0.026005601714772786,
+            "fingertip_max_gap": 0.09203231790929936,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013002800857386393,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661844911239148,
+            "object_top_z": 1.2165328511022642,
+            "finger_top_clearance": 0.05034835997834941,
+            "fingertip_min_top_clearance": 0.015104507993504823,
+            "object_projection_between_fingers": 0.8449122585502803,
+            "object_to_finger_line_xy": 0.009413723719179555,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851615895464968,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0509994773327946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+                "depth": 0.019569808581573755,
+                "bottom_clearance": 0.07987071368104048,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006056612937467813,
+              "rod_tip_xy_max_step": 3.2822823436898866e-05,
+              "rod_tip_xy_range": 0.0006056489489113655,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28331465598263594,
+            -0.3188289835335183,
+            1.0432946332804167
+          ],
+          "object_origin_world": [
+            0.28331465598263594,
+            -0.3188289835335183,
+            1.0432946332804167
+          ],
+          "frame_world": [
+            0.28331286294218205,
+            -0.3188321109076434,
+            1.0431847959133542
+          ],
+          "center_minus_frame": [
+            1.7930404538901712e-06,
+            3.1273741251114373e-06,
+            0.00010983736706249303
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.267232996605308,
+              0.13888148275863266,
+              0.833245737398095
+            ],
+            "target_position": [
+              0.27837776901577377,
+              0.18579616285665934,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482202567473594,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16751229459118935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833245737398095,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673861240757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13670412113908476,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51406e7942bec52620a413725228709affc50c7f847fdc8c0f268fa3e11cfc99",
+    "visual_seed": 2469882894746454161,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fb367ca558d1216187cd935bca6c64e362a3a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_58_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20812916792017788,
+              -0.09640287161885876,
+              1.1661724235279145
+            ],
+            "current_z": 1.1661724235279145,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3050659751177932,
+            "gripper_z": 1.1600720246383782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20347609595645327,
+              -0.10097481585307959,
+              1.1600720246383782
+            ],
+            "object_minus_gripper": [
+              0.004653071963724609,
+              0.004571944234220832,
+              0.006100398889536285
+            ],
+            "object_to_gripper_xy": 0.006523323752537896,
+            "object_to_gripper_z": 0.006100398889536285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20812916792017788,
+              -0.12026445314160533,
+              1.1661724235279145
+            ],
+            "finger_b": [
+              0.19787590614949624,
+              -0.09640287161885876,
+              1.1661724235279145
+            ],
+            "finger_midpoint": [
+              0.20300253703483706,
+              -0.10833366238023204,
+              1.1661724235279145
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051266308853408216,
+              0.01193079076137328,
+              0.0
+            ],
+            "finger_gap": 0.02597122349264282,
+            "fingertip_max_gap": 0.09248493376757691,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012985611746321405,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661724235279145,
+            "object_top_z": 1.2165864432928708,
+            "finger_top_clearance": 0.0504140197649563,
+            "fingertip_min_top_clearance": 0.015124205929486855,
+            "object_projection_between_fingers": 0.8441383492960919,
+            "object_to_finger_line_xy": 0.00942038952013517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874246688378846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.157675130207839,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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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+                "gripper_position": [
+                  0.274936100323283,
+                  -0.3149362233674414,
+                  1.0018036122302645
+                ],
+                "rod_tip_xy_dist": 0.0013548795960124707,
+                "target_xy_drift": 8.70830838915299e-08,
+                "depth": 0.01933911170992908,
+                "bottom_clearance": 0.08010142825803301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0004957167729197076,
+                  0.0012587188177745068
+                ],
+                "rod_tip_xy": [
+                  0.274936100323283,
+                  -0.3149362233674414
+                ],
+                "target_mouth_xy": [
+                  0.27444038355036326,
+                  -0.31619494218521593
+                ],
+                "gripper_position": [
+                  0.27492653144075174,
+                  -0.3149347120242359,
+                  1.0016864522637998
+                ],
+                "rod_tip_xy_dist": 0.0013528149101682688,
+                "target_xy_drift": 6.91022034877739e-08,
+                "depth": 0.019456312416834876,
+                "bottom_clearance": 0.07998437392279778,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006021934079560327,
+              "rod_tip_xy_max_step": 3.278652656755634e-05,
+              "rod_tip_xy_range": 0.0006021851533969585,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2744880340768368,
+            -0.31624922985466647,
+            1.0434014670696639
+          ],
+          "object_origin_world": [
+            0.2744880340768368,
+            -0.31624922985466647,
+            1.0434014670696639
+          ],
+          "frame_world": [
+            0.27448651303596744,
+            -0.3162515833862867,
+            1.0432962036018207
+          ],
+          "center_minus_frame": [
+            1.5210408693677735e-06,
+            2.353531620258309e-06,
+            0.00010526346784311968
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2729832555994144,
+              0.14412476752550624,
+              0.8327328418455718
+            ],
+            "target_position": [
+              0.2845533496722647,
+              0.1914506762166776,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048719695301794486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16960998225875032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327328418455718,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670103804243,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13840925956255343,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a95ef5aa46cf961b0edcf93afddfe335f7b5f0ce20b32295455a3df202b01c0",
+    "visual_seed": 3332026484498682294,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf24b0044567ae84fbc55bd4fabc251e695e19e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21164359305968417,
+              -0.08948142228212369,
+              1.1646027390974187
+            ],
+            "current_z": 1.1646027390974187,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3034959926640738,
+            "gripper_z": 1.1586922317031418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20681458179055964,
+              -0.09408001450231471,
+              1.1586922317031418
+            ],
+            "object_minus_gripper": [
+              0.004829011269124522,
+              0.004598592220191017,
+              0.005910507394276898
+            ],
+            "object_to_gripper_xy": 0.006668313148385653,
+            "object_to_gripper_z": 0.005910507394276898,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21164359305968417,
+              -0.11366765382333227,
+              1.1646027390974187
+            ],
+            "finger_b": [
+              0.20150948198228247,
+              -0.08948142228212369,
+              1.1646027390974187
+            ],
+            "finger_midpoint": [
+              0.20657653752098332,
+              -0.10157453805272798,
+              1.1646027390974187
+            ],
+            "object_minus_finger_midpoint": [
+              0.005067055538700849,
+              0.01209311577060429,
+              0.0
+            ],
+            "finger_gap": 0.026223539110769706,
+            "fingertip_max_gap": 0.0922665830537277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013111769555384853,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646027390974187,
+            "object_top_z": 1.2148726677484785,
+            "finger_top_clearance": 0.050269928651059725,
+            "fingertip_min_top_clearance": 0.01508097859531795,
+            "object_projection_between_fingers": 0.8506556786976148,
+            "object_to_finger_line_xy": 0.009346791672436837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863329152686385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3340698868918595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "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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+                  0.28079614360849253,
+                  -0.31607303318883906
+                ],
+                "gripper_position": [
+                  0.27916376110529106,
+                  -0.3149175815185805,
+                  1.0014873342972017
+                ],
+                "rod_tip_xy_dist": 0.0019913412938923213,
+                "target_xy_drift": 8.57395784969656e-08,
+                "depth": 0.019653621035978674,
+                "bottom_clearance": 0.07978695678301617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016323540263478709,
+                  0.0011554211854404306
+                ],
+                "rod_tip_xy": [
+                  0.27916376110529095,
+                  -0.3149175815185806
+                ],
+                "target_mouth_xy": [
+                  0.2807961151316388,
+                  -0.31607300270402106
+                ],
+                "gripper_position": [
+                  0.27917064493916377,
+                  -0.3149814714575359,
+                  1.0008960529140813
+                ],
+                "rod_tip_xy_dist": 0.001999894442989098,
+                "target_xy_drift": 1.2561949127888882e-07,
+                "depth": 0.019772509409744288,
+                "bottom_clearance": 0.07966804066690725,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006025909995539757,
+              "rod_tip_xy_max_step": 3.2617137366129196e-05,
+              "rod_tip_xy_range": 0.0006025835206782126,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2786643799279967,
+            -0.3162369514130236,
+            1.0433482534644067
+          ],
+          "object_origin_world": [
+            0.2786643799279967,
+            -0.3162369514130236,
+            1.0433482534644067
+          ],
+          "frame_world": [
+            0.2786900622790341,
+            -0.31623466274296014,
+            1.0436612164990433
+          ],
+          "center_minus_frame": [
+            -2.5682351037392692e-05,
+            -2.288670063466114e-06,
+            -0.0003129630346365708
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27380136595827803,
+              0.14304077571130466,
+              0.8326757142038261
+            ],
+            "target_position": [
+              0.28544089698036146,
+              0.18969730994000816,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048086493619812036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16745352372993735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326757142038261,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356687604752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13701800861816008,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc3c84092134680f207c58ee1af8993e45121ce46c36a0bff99824830634f987",
+    "visual_seed": 8842588441820637112,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05456cb6850ab942301bfaee150f9628f22a4f90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2071495105273151,
+              -0.09341006218248224,
+              1.1651181860667648
+            ],
+            "current_z": 1.1651181860667648,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3040116780519988,
+            "gripper_z": 1.1590640687270717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2025435486175173,
+              -0.09803460909473229,
+              1.1590640687270717
+            ],
+            "object_minus_gripper": [
+              0.004605961909797784,
+              0.0046245469122500465,
+              0.006054117339693077
+            ],
+            "object_to_gripper_xy": 0.006526968611699423,
+            "object_to_gripper_z": 0.006054117339693077,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2071495105273151,
+              -0.1170715492251381,
+              1.1651181860667648
+            ],
+            "finger_b": [
+              0.1965542550779532,
+              -0.09341006218248224,
+              1.1651181860667648
+            ],
+            "finger_midpoint": [
+              0.20185188280263416,
+              -0.10524080570381017,
+              1.1651181860667648
+            ],
+            "object_minus_finger_midpoint": [
+              0.005297627724680926,
+              0.01183074352132793,
+              0.0
+            ],
+            "finger_gap": 0.02592538152288224,
+            "fingertip_max_gap": 0.09222597879666664,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012962690761441114,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651181860667648,
+            "object_top_z": 1.215555654951114,
+            "finger_top_clearance": 0.05043746888434919,
+            "fingertip_min_top_clearance": 0.01513124066530479,
+            "object_projection_between_fingers": 0.8329784340091748,
+            "object_to_finger_line_xy": 0.009670040894381155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861298939833332,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.140252950872692,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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,
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+              },
+              {
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+                  -0.0010317885844562391,
+                  0.0006447647311696447
+                ],
+                "rod_tip_xy": [
+                  0.2782939423433529,
+                  -0.31549165444233684
+                ],
+                "target_mouth_xy": [
+                  0.27932573092780916,
+                  -0.3161364191735065
+                ],
+                "gripper_position": [
+                  0.278281339662692,
+                  -0.31549715202486245,
+                  1.001638260634412
+                ],
+                "rod_tip_xy_dist": 0.0012166795969253672,
+                "target_xy_drift": 2.5609102377271112e-08,
+                "depth": 0.019486101141452994,
+                "bottom_clearance": 0.07995453888464488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010444868136406105,
+                  0.0006391084429323568
+                ],
+                "rod_tip_xy": [
+                  0.278281339662692,
+                  -0.3154971520248625
+                ],
+                "target_mouth_xy": [
+                  0.2793258264763326,
+                  -0.31613626046779486
+                ],
+                "gripper_position": [
+                  0.2782717178406147,
+                  -0.3154961719988333,
+                  1.0015194831667693
+                ],
+                "rod_tip_xy_dist": 0.001224504922691835,
+                "target_xy_drift": 1.9758371574215299e-07,
+                "depth": 0.019621771438287694,
+                "bottom_clearance": 0.0798191408247414,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006033779619480166,
+              "rod_tip_xy_max_step": 3.2715876098418416e-05,
+              "rod_tip_xy_range": 0.0006033673682450167,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27779114060622473,
+            -0.31683332208180603,
+            1.043341023000627
+          ],
+          "object_origin_world": [
+            0.27779114060622473,
+            -0.31683332208180603,
+            1.043341023000627
+          ],
+          "frame_world": [
+            0.2778168902932173,
+            -0.31683098968795764,
+            1.043654450524851
+          ],
+          "center_minus_frame": [
+            -2.574968699259328e-05,
+            -2.3323938483921225e-06,
+            -0.0003134275242240303
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2733374182120045,
+              0.13876571368628224,
+              0.8338574493509033
+            ],
+            "target_position": [
+              0.28358151993130704,
+              0.18597252331007486,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04830553275653231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16923054112820493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338574493509033,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567186334709,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1382515418534992,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee4e31380433f01db2d3423b66f04b00ce235f1a5de12a1c052480f3a84727d2",
+    "visual_seed": 1123100080834885761,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51beea00b15ee893afaa67c8cf94b160a88a8c03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_60_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21099226780089764,
+              -0.09167614323489547,
+              1.1639798841132798
+            ],
+            "current_z": 1.1639798841132798,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3028732568892244,
+            "gripper_z": 1.1580618523081707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20608259750024396,
+              -0.09630762003574331,
+              1.1580618523081707
+            ],
+            "object_minus_gripper": [
+              0.0049096703006536735,
+              0.004631476800847842,
+              0.005918031805109081
+            ],
+            "object_to_gripper_xy": 0.0067494770032879205,
+            "object_to_gripper_z": 0.005918031805109081,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21099226780089764,
+              -0.11576940860969996,
+              1.1639798841132798
+            ],
+            "finger_b": [
+              0.20066917917349636,
+              -0.09167614323489547,
+              1.1639798841132798
+            ],
+            "finger_midpoint": [
+              0.205830723487197,
+              -0.10372277592229771,
+              1.1639798841132798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005161544313700639,
+              0.012046632687402248,
+              0.0
+            ],
+            "finger_gap": 0.026211669066084572,
+            "fingertip_max_gap": 0.09192038896405255,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105834533042286,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639798841132798,
+            "object_top_z": 1.2143414536429398,
+            "finger_top_clearance": 0.05036156952965998,
+            "fingertip_min_top_clearance": 0.015108470858898026,
+            "object_projection_between_fingers": 0.8448935137491134,
+            "object_to_finger_line_xy": 0.009488785821328017,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846019448202628,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9649680203884926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "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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+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  -0.001600515792952062,
+                  0.0022981489816201184
+                ],
+                "rod_tip_xy": [
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+                  -0.30708138503131654
+                ],
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+                  0.27985809444318066,
+                  -0.3070796388526798,
+                  1.0017596145366228
+                ],
+                "rod_tip_xy_dist": 0.0028005605769578622,
+                "target_xy_drift": 3.093791730924255e-08,
+                "depth": 0.01938231817296021,
+                "bottom_clearance": 0.08005824916609838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016104431765353588,
+                  0.0022998942025440616
+                ],
+                "rod_tip_xy": [
+                  0.2798580944431807,
+                  -0.3070796388526798
+                ],
+                "target_mouth_xy": [
+                  0.2814685376197161,
+                  -0.30937953305522387
+                ],
+                "gripper_position": [
+                  0.2798482798542724,
+                  -0.30707755676428833,
+                  1.0016414509901113
+                ],
+                "rod_tip_xy_dist": 0.002807675295995796,
+                "target_xy_drift": 3.087165658440818e-08,
+                "depth": 0.019500212895140367,
+                "bottom_clearance": 0.0799403406852982,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006032101888600156,
+              "rod_tip_xy_max_step": 3.28853123984276e-05,
+              "rod_tip_xy_range": 0.0006032015632510898,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27935494532594274,
+            -0.30846168374178584,
+            1.043376413335613
+          ],
+          "object_origin_world": [
+            0.27935494532594274,
+            -0.30846168374178584,
+            1.043376413335613
+          ],
+          "frame_world": [
+            0.2793806745060562,
+            -0.3084600013583634,
+            1.0436886746755014
+          ],
+          "center_minus_frame": [
+            -2.5729180113454042e-05,
+            -1.682383422463296e-06,
+            -0.0003122613398884866
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2741174424560764,
+              0.14030420448648637,
+              0.8334174806855511
+            ],
+            "target_position": [
+              0.2838554020051787,
+              0.18712286360783353,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04782065137679387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17053572372248815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334174806855511,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675733766914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389063299828158,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dac747b636ed8893307c221a6f48e455b2634a0146b30d1918173a5de9c93d9d",
+    "visual_seed": 6904648921233671962,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0834213e995ad079a2f0e3aafbfffbd363eac0ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21005693860118635,
+              -0.08525879451640944,
+              1.1673619195920537
+            ],
+            "current_z": 1.1673619195920537,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30625547118193264,
+            "gripper_z": 1.1613103578993123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20537972878314922,
+              -0.08990560180817554,
+              1.1613103578993123
+            ],
+            "object_minus_gripper": [
+              0.004677209818037126,
+              0.0046468072917661,
+              0.006051561692741458
+            ],
+            "object_to_gripper_xy": 0.006593110774797697,
+            "object_to_gripper_z": 0.006051561692741458,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21005693860118635,
+              -0.10900897845516973,
+              1.1673619195920537
+            ],
+            "finger_b": [
+              0.1995061698960104,
+              -0.08525879451640944,
+              1.1673619195920537
+            ],
+            "finger_midpoint": [
+              0.20478155424859837,
+              -0.09713388648578958,
+              1.1673619195920537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005275384352587981,
+              0.011875091969380136,
+              0.0
+            ],
+            "finger_gap": 0.025988265763514647,
+            "fingertip_max_gap": 0.09226045203010763,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012994132881757317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1673619195920537,
+            "object_top_z": 1.217706555268459,
+            "finger_top_clearance": 0.050344635676405236,
+            "fingertip_min_top_clearance": 0.015103390702921604,
+            "object_projection_between_fingers": 0.8351785971182203,
+            "object_to_finger_line_xy": 0.009642147718646221,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863022601505382,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0466593494163405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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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+                "depth": 0.019018502362058043,
+                "bottom_clearance": 0.08042210408059514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
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+                  0.0010057217370281757
+                ],
+                "rod_tip_xy": [
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+                  -0.31541164680916167
+                ],
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+                  0.2827854126445579,
+                  -0.31641736854618985
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+                "gripper_position": [
+                  0.2832896065409463,
+                  -0.315417688702295,
+                  1.0015964011263059
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+                "rod_tip_xy_dist": 0.0011308671637060982,
+                "target_xy_drift": 6.727843873877776e-08,
+                "depth": 0.019525271485589468,
+                "bottom_clearance": 0.07991522975137688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000504194335362862,
+                  0.0009997125158049402
+                ],
+                "rod_tip_xy": [
+                  0.2832896065409462,
+                  -0.31541768870229503
+                ],
+                "target_mouth_xy": [
+                  0.28278541220558334,
+                  -0.31641740121809997
+                ],
+                "gripper_position": [
+                  0.28327985745532613,
+                  -0.31541625519696476,
+                  1.0014749810765469
+                ],
+                "rod_tip_xy_dist": 0.0011196593419737278,
+                "target_xy_drift": 4.01390263954218e-08,
+                "depth": 0.019663537193277514,
+                "bottom_clearance": 0.07977706579385313,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006015820367447232,
+              "rod_tip_xy_max_step": 3.271849600344251e-05,
+              "rod_tip_xy_range": 0.0006015760970212984,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2828574471203791,
+            -0.31675078485951164,
+            1.0433577632614937
+          ],
+          "object_origin_world": [
+            0.2828574471203791,
+            -0.31675078485951164,
+            1.0433577632614937
+          ],
+          "frame_world": [
+            0.2828555802822551,
+            -0.31675385402709166,
+            1.04324880022397
+          ],
+          "center_minus_frame": [
+            1.8668381239761445e-06,
+            3.069167580027621e-06,
+            0.00010896303752372383
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27146022161963135,
+              0.1455527735841522,
+              0.8332208822483975
+            ],
+            "target_position": [
+              0.2828278791325196,
+              0.19172884365281534,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047554737769400154,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1667045639414237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332208822483975,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669244190014,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13562627060774363,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "856c5111529022866d8489aeb73dd5fd29afba4718977d306c818fda763c770e",
+    "visual_seed": 7662173064426111447,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83bb24ca969e7043db2d30df08257e034f53707
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2100875739623075,
+              -0.08681131263705402,
+              1.1664986261042483
+            ],
+            "current_z": 1.1664986261042483,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30539217769412685,
+            "gripper_z": 1.1604646510293375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2052692600482031,
+              -0.09136528209070117,
+              1.1604646510293375
+            ],
+            "object_minus_gripper": [
+              0.004818313914104422,
+              0.0045539694536471526,
+              0.006033975074910769
+            ],
+            "object_to_gripper_xy": 0.006629840628522198,
+            "object_to_gripper_z": 0.006033975074910769,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2100875739623075,
+              -0.1108388677857928,
+              1.1664986261042483
+            ],
+            "finger_b": [
+              0.1998676065049219,
+              -0.08681131263705402,
+              1.1664986261042483
+            ],
+            "finger_midpoint": [
+              0.20497759023361473,
+              -0.09882509021142341,
+              1.1664986261042483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005109983728692785,
+              0.012013777574369389,
+              0.0
+            ],
+            "finger_gap": 0.026110747619624067,
+            "fingertip_max_gap": 0.09215125997476528,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013055373809812029,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664986261042483,
+            "object_top_z": 1.2168043219852398,
+            "finger_top_clearance": 0.05030569588099154,
+            "fingertip_min_top_clearance": 0.015091708764297461,
+            "object_projection_between_fingers": 0.8467994191751119,
+            "object_to_finger_line_xy": 0.009404588305089053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857562998738264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1097877014532767,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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",
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+              },
+              {
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+                  0.0008611003527058125
+                ],
+                "rod_tip_xy": [
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+                  -0.3094908943023773
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+                  -0.30948877454833745,
+                  1.0018991817157479
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+                "rod_tip_xy_dist": 0.002212247800732965,
+                "target_xy_drift": 9.20750625092571e-08,
+                "depth": 0.019245939600995854,
+                "bottom_clearance": 0.08019457507073113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.0008632220108170108
+                ],
+                "rod_tip_xy": [
+                  0.27210979386249934,
+                  -0.30948877454833745
+                ],
+                "target_mouth_xy": [
+                  0.2741568966207305,
+                  -0.31035199655915446
+                ],
+                "gripper_position": [
+                  0.272115606268445,
+                  -0.30955966976301874,
+                  1.0013986774726091
+                ],
+                "rod_tip_xy_dist": 0.002221661977600692,
+                "target_xy_drift": 9.193090516348732e-08,
+                "depth": 0.019360662974574283,
+                "bottom_clearance": 0.08007988211220873,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005985733533545437,
+              "rod_tip_xy_max_step": 3.2422380683017636e-05,
+              "rod_tip_xy_range": 0.0005985645469668509,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716002933148881,
+            -0.31082580065539,
+            1.0435085881732422
+          ],
+          "object_origin_world": [
+            0.2716002933148881,
+            -0.31082580065539,
+            1.0435085881732422
+          ],
+          "frame_world": [
+            0.2715989252138977,
+            -0.3108272229203764,
+            1.0434048622292504
+          ],
+          "center_minus_frame": [
+            1.3681009903843133e-06,
+            1.422264986394861e-06,
+            0.0001037259439917726
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2723786402080989,
+              0.13832937995491887,
+              0.8342971738070944
+            ],
+            "target_position": [
+              0.28227488442357374,
+              0.18557492669903503,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048270874621481476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714207047446821,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342971738070944,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676988045418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13945938175570105,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c64c643727b35d4184e2ce3cd2be68c1f7e61eee658fde6d4d89034e0ec33519",
+    "visual_seed": 5046446169649954136,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70c52cc2cc8fcc93d269a03708a4f5bd657c493
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_63_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21705379668805766,
+              -0.08513674605880645,
+              1.166578728058282
+            ],
+            "current_z": 1.166578728058282,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3054722200435158,
+            "gripper_z": 1.160443777240769,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21241426459071397,
+              -0.08979607590280385,
+              1.160443777240769
+            ],
+            "object_minus_gripper": [
+              0.00463953209734369,
+              0.0046593298439974035,
+              0.00613495081751303
+            ],
+            "object_to_gripper_xy": 0.006575303238440583,
+            "object_to_gripper_z": 0.00613495081751303,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21705379668805766,
+              -0.10889514262461411,
+              1.166578728058282
+            ],
+            "finger_b": [
+              0.20644710765287075,
+              -0.08513674605880645,
+              1.166578728058282
+            ],
+            "finger_midpoint": [
+              0.2117504521704642,
+              -0.09701594434171028,
+              1.166578728058282
+            ],
+            "object_minus_finger_midpoint": [
+              0.005303344517593456,
+              0.011879198282903833,
+              0.0
+            ],
+            "finger_gap": 0.026018517630090606,
+            "fingertip_max_gap": 0.0920483074723423,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013009258815045303,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166578728058282,
+            "object_top_z": 1.2168366298143551,
+            "finger_top_clearance": 0.05025790175607314,
+            "fingertip_min_top_clearance": 0.015077370526821975,
+            "object_projection_between_fingers": 0.8338139467946334,
+            "object_to_finger_line_xy": 0.0096853298074421,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852415373617115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.118127818184723,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "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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+              },
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+                "rod_tip_xy": [
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+                  -0.314292089284068,
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+                "target_xy_drift": 6.030425122383451e-08,
+                "depth": 0.019370579241176134,
+                "bottom_clearance": 0.08006995566287445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  0.00277050303729498
+                ],
+                "rod_tip_xy": [
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+                  -0.31429208928406804
+                ],
+                "target_mouth_xy": [
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+                  -0.317062592321363
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+                "gripper_position": [
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+                  -0.31429064321210587,
+                  1.0016528069979636
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+                "rod_tip_xy_dist": 0.0029986079265502705,
+                "target_xy_drift": 4.259931217772018e-08,
+                "depth": 0.019488855846740316,
+                "bottom_clearance": 0.07995168231935113,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006010419803954118,
+              "rod_tip_xy_max_step": 3.260209069544314e-05,
+              "rod_tip_xy_range": 0.0006010342451581211,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27709235398351656,
+            -0.31566877230448354,
+            1.0433927337545845
+          ],
+          "object_origin_world": [
+            0.27709235398351656,
+            -0.31566877230448354,
+            1.0433927337545845
+          ],
+          "frame_world": [
+            0.27709064836217223,
+            -0.3156712136454538,
+            1.0432863228513258
+          ],
+          "center_minus_frame": [
+            1.7056213443278345e-06,
+            2.4413409702717104e-06,
+            0.00010641090325869129
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27250180985164313,
+              0.14250177747224266,
+              0.8329145811659456
+            ],
+            "target_position": [
+              0.28364236114922226,
+              0.1888205807982445,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763972528013601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16869930902552505,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329145811659456,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668550197434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374404994522894,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "017be02c9df048180cd8c0b44b049b1453b67248d73796ae3b62dddbe3a20f41",
+    "visual_seed": 5414499427428459661,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a989d7945e24fa5178a56e7af6052e90aa40bfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_64_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21166299631787872,
+              -0.09245839572056865,
+              1.166210450064792
+            ],
+            "current_z": 1.166210450064792,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30510406125931555,
+            "gripper_z": 1.1600567550031258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20712137853695065,
+              -0.0970771019877831,
+              1.1600567550031258
+            ],
+            "object_minus_gripper": [
+              0.00454161778092807,
+              0.004618706267214459,
+              0.006153695061666298
+            ],
+            "object_to_gripper_xy": 0.006477556611165057,
+            "object_to_gripper_z": 0.006153695061666298,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21166299631787872,
+              -0.11601364988474878,
+              1.166210450064792
+            ],
+            "finger_b": [
+              0.2010059086219194,
+              -0.09245839572056865,
+              1.166210450064792
+            ],
+            "finger_midpoint": [
+              0.20633445246989907,
+              -0.10423602280265871,
+              1.166210450064792
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532854384797965,
+              0.01177762708209007,
+              0.0
+            ],
+            "finger_gap": 0.025853887848803193,
+            "fingertip_max_gap": 0.09245625786173944,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012926943924401591,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166210450064792,
+            "object_top_z": 1.2166028079284437,
+            "finger_top_clearance": 0.05039235786365159,
+            "fingertip_min_top_clearance": 0.015117707359095444,
+            "object_projection_between_fingers": 0.8300874890124267,
+            "object_to_finger_line_xy": 0.009709580655580167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048728128930869724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3528794125642465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              },
+              {
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+                "rod_tip_xy": [
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+                  1.0019219681611617
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+                "target_xy_drift": 6.76429627148963e-08,
+                "depth": 0.019219523024525453,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0007972517963000247,
+                  0.0016265084005367414
+                ],
+                "rod_tip_xy": [
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+                  -0.3082223346890876
+                ],
+                "target_mouth_xy": [
+                  0.2809211546077529,
+                  -0.30984884308962435
+                ],
+                "gripper_position": [
+                  0.28013348096824514,
+                  -0.30829426538429416,
+                  1.001418518387606
+                ],
+                "rod_tip_xy_dist": 0.0018113917311614858,
+                "target_xy_drift": 6.058532942732504e-08,
+                "depth": 0.019337914209365814,
+                "bottom_clearance": 0.08010270149790932,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006038954207553842,
+              "rod_tip_xy_max_step": 3.291597581118001e-05,
+              "rod_tip_xy_range": 0.000603888368788507,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27965654433905823,
+            -0.3095701296725025,
+            1.043345905223328
+          ],
+          "object_origin_world": [
+            0.27965654433905823,
+            -0.3095701296725025,
+            1.043345905223328
+          ],
+          "frame_world": [
+            0.2796822870588866,
+            -0.309568257922522,
+            1.0436594944378876
+          ],
+          "center_minus_frame": [
+            -2.574271982835885e-05,
+            -1.8717499805087634e-06,
+            -0.0003135892145595953
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2717226656656406,
+              0.14085851470333563,
+              0.8331085682538115
+            ],
+            "target_position": [
+              0.2848838879237024,
+              0.18625181994016726,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047262775327420924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16448038464602618,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331085682538115,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669503046269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13456375607720458,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e4c515ab02688b3a0816805a399538585ffc8de2bc8890cd1229245ae0ee081",
+    "visual_seed": 5450803021800188456,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..688d4b53130c5ce6eefb9e716e976d20137f4f07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "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": [
+              0.20942304098479175,
+              -0.08662252257793271,
+              1.1668709002244073
+            ],
+            "current_z": 1.1668709002244073,
+            "required_z": 0.8611064484101215,
+            "initial_z": 0.7611064484101215,
+            "lift_margin": 0.3057644518142858,
+            "gripper_z": 1.1610005745892127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20449188032629742,
+              -0.09126187832588152,
+              1.1610005745892127
+            ],
+            "object_minus_gripper": [
+              0.004931160658494332,
+              0.004639355747948812,
+              0.005870325635194629
+            ],
+            "object_to_gripper_xy": 0.006770521929357288,
+            "object_to_gripper_z": 0.005870325635194629,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20942304098479175,
+              -0.11090010854664131,
+              1.1668709002244073
+            ],
+            "finger_b": [
+              0.19925867049306564,
+              -0.08662252257793271,
+              1.1668709002244073
+            ],
+            "finger_midpoint": [
+              0.20434085573892868,
+              -0.09876131556228701,
+              1.1668709002244073
+            ],
+            "object_minus_finger_midpoint": [
+              0.005082185245863069,
+              0.012138792984354302,
+              0.0
+            ],
+            "finger_gap": 0.026319491027774634,
+            "fingertip_max_gap": 0.09203667812458141,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013159745513887322,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668709002244073,
+            "object_top_z": 1.2171806263895384,
+            "finger_top_clearance": 0.050309726165131075,
+            "fingertip_min_top_clearance": 0.015092917849539322,
+            "object_projection_between_fingers": 0.8508559265797967,
+            "object_to_finger_line_xy": 0.009375803588689313,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851833906229071,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1560849833025308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
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+                "target_xy_drift": 2.1763689832526554e-08,
+                "depth": 0.01965279369452555,
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+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.002686763998500208
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+                "rod_tip_xy": [
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+                  -0.3140299848000168
+                ],
+                "target_mouth_xy": [
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+                  -0.316716748798517
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+                "gripper_position": [
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+                  -0.3140938730196722,
+                  1.0008964237737437
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+                "target_xy_drift": 8.531527291684915e-08,
+                "depth": 0.019772391156798408,
+                "bottom_clearance": 0.07966818817918031,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006034604164707893,
+              "rod_tip_xy_max_step": 3.2726628281867644e-05,
+              "rod_tip_xy_range": 0.0006034497301568327,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27991576893077097,
+            -0.31534770629234093,
+            1.0433261212973077
+          ],
+          "object_origin_world": [
+            0.27991576893077097,
+            -0.31534770629234093,
+            1.0433261212973077
+          ],
+          "frame_world": [
+            0.2799415955400201,
+            -0.31534550578617127,
+            1.0436394878973112
+          ],
+          "center_minus_frame": [
+            -2.5826609249157695e-05,
+            -2.2005061696694916e-06,
+            -0.00031336660000347294
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2724383996005144,
+              0.14358627195461007,
+              0.8327224625091421
+            ],
+            "target_position": [
+              0.28493307191578965,
+              0.1894707979669657,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04755530005840196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16635866574085967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327224625091421,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672219719201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.136515301623267,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "017b3ec23d3da51e4d8e5089329a56f26fe2cb187e478b37691e3e1e58189111",
+    "visual_seed": 1436693311825797812,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aae0cbac744f8c3b5c1322ba4c68383d6251df65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_66_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.21681943791773234,
+              -0.09011334624858747,
+              1.164303203265927
+            ],
+            "current_z": 1.164303203265927,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.303196456832582,
+            "gripper_z": 1.1583609227018827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21202873300743588,
+              -0.09472021625417466,
+              1.1583609227018827
+            ],
+            "object_minus_gripper": [
+              0.004790704910296456,
+              0.004606870005587196,
+              0.005942280564044333
+            ],
+            "object_to_gripper_xy": 0.006646360266034151,
+            "object_to_gripper_z": 0.005942280564044333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21681943791773234,
+              -0.11425464345230778,
+              1.164303203265927
+            ],
+            "finger_b": [
+              0.2065733403877747,
+              -0.09011334624858747,
+              1.164303203265927
+            ],
+            "finger_midpoint": [
+              0.21169638915275352,
+              -0.10218399485044763,
+              1.164303203265927
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051230487649788214,
+              0.012070648601860162,
+              0.0
+            ],
+            "finger_gap": 0.026225650521421926,
+            "fingertip_max_gap": 0.09220858795249806,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01311282526071097,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164303203265927,
+            "object_top_z": 1.2144071810169457,
+            "finger_top_clearance": 0.0501039777510186,
+            "fingertip_min_top_clearance": 0.01503119332530558,
+            "object_projection_between_fingers": 0.8473613796829367,
+            "object_to_finger_line_xy": 0.00943176168106737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860429397624903,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6388136506977142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+              },
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+                "target_xy_drift": 3.288199131875034e-08,
+                "depth": 0.01917574989372517,
+                "bottom_clearance": 0.08026478012983318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.0003602052360989205
+                ],
+                "rod_tip_xy": [
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+                  -0.3151575061992431
+                ],
+                "target_mouth_xy": [
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+                  -0.315517711435342
+                ],
+                "gripper_position": [
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+                  -0.3151559398839936,
+                  1.001850507400076
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+                "rod_tip_xy_dist": 0.0005544430638502226,
+                "target_xy_drift": 3.288199131875034e-08,
+                "depth": 0.01929266328095658,
+                "bottom_clearance": 0.08014786674260177,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006051566033014918,
+              "rod_tip_xy_max_step": 3.288186886348359e-05,
+              "rod_tip_xy_range": 0.0006051479324870459,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27409198520912786,
+            -0.3165393397211143,
+            1.043389015734088
+          ],
+          "object_origin_world": [
+            0.27409198520912786,
+            -0.3165393397211143,
+            1.043389015734088
+          ],
+          "frame_world": [
+            0.2740905947622033,
+            -0.3165414503549469,
+            1.0432838098275812
+          ],
+          "center_minus_frame": [
+            1.3904469245429318e-06,
+            2.1106338325971308e-06,
+            0.00010520590650675565
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2675882075287996,
+              0.14303342637292824,
+              0.8328959460091309
+            ],
+            "target_position": [
+              0.2805449028176847,
+              0.18861624237920588,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04738849087986638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16701274012445302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328959460091309,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672149590352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13680392943893718,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac3974ca8f7e38f2666f21415e618d2ad9e37fdfd1b9767d109058e020bb452d",
+    "visual_seed": 9091608766356933068,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a0c3f4ce77ab81e39837c6da959c0522f2ce32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_67_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2080969028468689,
+              -0.09064611076553004,
+              1.1644537383396458
+            ],
+            "current_z": 1.1644537383396458,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30334723032487976,
+            "gripper_z": 1.1586131540229725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20319405401025784,
+              -0.09526249209259112,
+              1.1586131540229725
+            ],
+            "object_minus_gripper": [
+              0.004902848836611073,
+              0.004616381327061075,
+              0.005840584316673336
+            ],
+            "object_to_gripper_xy": 0.006734159433180709,
+            "object_to_gripper_z": 0.005840584316673336,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2080969028468689,
+              -0.11467999006194679,
+              1.1644537383396458
+            ],
+            "finger_b": [
+              0.19775498921593923,
+              -0.09064611076553004,
+              1.1644537383396458
+            ],
+            "finger_midpoint": [
+              0.20292594603140407,
+              -0.10266305041373841,
+              1.1644537383396458
+            ],
+            "object_minus_finger_midpoint": [
+              0.005170956815464839,
+              0.012016939648208366,
+              0.0
+            ],
+            "finger_gap": 0.02616452811698194,
+            "fingertip_max_gap": 0.09235512229709522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013082264058490965,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644537383396458,
+            "object_top_z": 1.2148312157280943,
+            "finger_top_clearance": 0.050377477388448444,
+            "fingertip_min_top_clearance": 0.015113243216534499,
+            "object_projection_between_fingers": 0.8437658388652114,
+            "object_to_finger_line_xy": 0.009499743423173253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867756114854761,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+              },
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+                "depth": 0.019228877451876847,
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+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
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+                  -0.0002277560056780925
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+                "rod_tip_xy": [
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+                "target_mouth_xy": [
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+                  1.0014081676524569
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+                "target_xy_drift": 8.619037952276505e-08,
+                "depth": 0.01934770849114209,
+                "bottom_clearance": 0.08009293902717152,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006089674016256235,
+              "rod_tip_xy_max_step": 3.308398241434542e-05,
+              "rod_tip_xy_range": 0.0006089613339682899,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2776670054604066,
+            -0.3163850044502012,
+            1.0433947070497773
+          ],
+          "object_origin_world": [
+            0.2776670054604066,
+            -0.3163850044502012,
+            1.0433947070497773
+          ],
+          "frame_world": [
+            0.27766543393242593,
+            -0.31638754028573496,
+            1.0432877151054774
+          ],
+          "center_minus_frame": [
+            1.5715279806927107e-06,
+            2.5358355337790073e-06,
+            0.00010699194429997227
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26952455954736765,
+              0.13825598777236475,
+              0.8329994026397178
+            ],
+            "target_position": [
+              0.2808451847777503,
+              0.1847123992264617,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04781584173471306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16779146699196704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329994026397178,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667636975777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13697190751100763,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1975b2eea15b5fc37912c640e0de7a3f1c4ad855a763192a98379fd58a67bab6",
+    "visual_seed": 1106665646866808468,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..416a6b282eb47a0182a97ae61f66ac6aa7c28fad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_68_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2154650250719284,
+              -0.08953042538774507,
+              1.1668085751669293
+            ],
+            "current_z": 1.1668085751669293,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30570212675680786,
+            "gripper_z": 1.1606002263385875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21083415095008629,
+              -0.09404727834590187,
+              1.1606002263385875
+            ],
+            "object_minus_gripper": [
+              0.004630874121842127,
+              0.004516852958156806,
+              0.006208348828341759
+            ],
+            "object_to_gripper_xy": 0.006468922304213969,
+            "object_to_gripper_z": 0.006208348828341759,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2154650250719284,
+              -0.11342562347710543,
+              1.1668085751669293
+            ],
+            "finger_b": [
+              0.20524969246176372,
+              -0.08953042538774507,
+              1.1668085751669293
+            ],
+            "finger_midpoint": [
+              0.21035735876684608,
+              -0.10147802443242525,
+              1.1668085751669293
+            ],
+            "object_minus_finger_midpoint": [
+              0.005107666305082331,
+              0.01194759904468018,
+              0.0
+            ],
+            "finger_gap": 0.025987179763607766,
+            "fingertip_max_gap": 0.0918906858696143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012993589881803878,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668085751669293,
+            "object_top_z": 1.217012374400468,
+            "finger_top_clearance": 0.05020379923353868,
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+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
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+                "rod_tip_xy": [
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+                  1.0015927682132555
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+                "target_xy_drift": 9.199260489897829e-08,
+                "depth": 0.01955213189858329,
+                "bottom_clearance": 0.07988840702807487,
+                "inserted": true,
+                "centered": true
+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006012799383734549,
+              "rod_tip_xy_max_step": 3.275055204854616e-05,
+              "rod_tip_xy_range": 0.0006012715756287531,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2737020646425302,
+            -0.30888597435614024,
+            1.0434544510822017
+          ],
+          "object_origin_world": [
+            0.2737020646425302,
+            -0.30888597435614024,
+            1.0434544510822017
+          ],
+          "frame_world": [
+            0.273700550265072,
+            -0.30888757710048576,
+            1.0433504852955877
+          ],
+          "center_minus_frame": [
+            1.514377458211591e-06,
+            1.6027443455191026e-06,
+            0.00010396578661397982
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2654777387852839,
+              0.14536939213199018,
+              0.8331056454249981
+            ],
+            "target_position": [
+              0.27853110460195013,
+              0.19110843010351547,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047565217898211526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16631930505194595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331056454249981,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671361435333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13597100109439744,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "827ef3df8693d82c13f1df80f5dbba6cfef6534f7771cf0bd1add7249936fce9",
+    "visual_seed": 6219018368161571174,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..869e86450b21582fb0f31489e72fcd783ad860cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2063351170166789,
+              -0.09538310717409962,
+              1.1634028661130604
+            ],
+            "current_z": 1.1634028661130604,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3022963580982946,
+            "gripper_z": 1.1572682983644018,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20174972368979088,
+              -0.09995340143427245,
+              1.1572682983644018
+            ],
+            "object_minus_gripper": [
+              0.00458539332688801,
+              0.00457029426017283,
+              0.006134567748658615
+            ],
+            "object_to_gripper_xy": 0.0064740575829102575,
+            "object_to_gripper_z": 0.006134567748658615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              },
+              {
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+                "rod_tip_xy_delta": [
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006075585163637839,
+              "rod_tip_xy_max_step": 3.294539303568142e-05,
+              "rod_tip_xy_range": 0.0006075452240172511,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28218554462186485,
+            -0.31114006850667514,
+            1.043392095264569
+          ],
+          "object_origin_world": [
+            0.28218554462186485,
+            -0.31114006850667514,
+            1.043392095264569
+          ],
+          "frame_world": [
+            0.2821837166453057,
+            -0.31114266571178356,
+            1.0432843281288904
+          ],
+          "center_minus_frame": [
+            1.8279765591211472e-06,
+            2.597205108423317e-06,
+            0.00010776713567861584
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2714297502042935,
+              0.14510918428524447,
+              0.8320691609013275
+            ],
+            "target_position": [
+              0.28444940629252485,
+              0.19117672887287745,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0478720180166804,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16504627386890414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320691609013275,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666807178859,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13522114186155437,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed96a2c3af5347f948e5ead704fb36ed3a743ed6c102d2adf462819e049a6045",
+    "visual_seed": 6599087935331914532,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..530b4ad858f3e9b5b9dadd45d8384b1474422cf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_6_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.21475859474737186,
+              -0.08672325696883948,
+              1.1652775794952315
+            ],
+            "current_z": 1.1652775794952315,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3041710714804653,
+            "gripper_z": 1.159083354235762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21019090665473172,
+              -0.09130401664761165,
+              1.159083354235762
+            ],
+            "object_minus_gripper": [
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+              },
+              {
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006059857860856955,
+              "rod_tip_xy_max_step": 3.295639031640206e-05,
+              "rod_tip_xy_range": 0.0006059781328544176,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2814892175618447,
+            -0.3211979391316325,
+            1.0432930442070538
+          ],
+          "object_origin_world": [
+            0.2814892175618447,
+            -0.3211979391316325,
+            1.0432930442070538
+          ],
+          "frame_world": [
+            0.28148754706508716,
+            -0.321201110929192,
+            1.0431842945710053
+          ],
+          "center_minus_frame": [
+            1.6704967575331686e-06,
+            3.171797559486933e-06,
+            0.00010874963604856624
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2732805969410377,
+              0.13927610450265698,
+              0.8330485244379746
+            ],
+            "target_position": [
+              0.28403849186816565,
+              0.18642130772620713,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04835703144582977,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16838434510784028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330485244379746,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668926528063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13756527025291876,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ede17cc261790f7014a29a9189f24d05799e77b8b57c840856316216a99c76a0",
+    "visual_seed": 4173831737854333454,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a003c044d8fc450e2656752bf21a3005541d83be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
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+              },
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.000604848013015834,
+              "rod_tip_xy_max_step": 3.28377512926398e-05,
+              "rod_tip_xy_range": 0.0006048384119725125,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2821034958488704,
+            -0.3161869575767481,
+            1.0433620397084074
+          ],
+          "object_origin_world": [
+            0.2821034958488704,
+            -0.3161869575767481,
+            1.0433620397084074
+          ],
+          "frame_world": [
+            0.28210169073125524,
+            -0.31618995277127926,
+            1.043253576513282
+          ],
+          "center_minus_frame": [
+            1.8051176151612225e-06,
+            2.995194531174583e-06,
+            0.0001084631951253634
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2739943830005866,
+              0.14386171172959342,
+              0.8323939485139827
+            ],
+            "target_position": [
+              0.28667410671278143,
+              0.19063243872641622,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04845901667624845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16645054125336145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323939485139827,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566979742379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361921362720206,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8df77629dbe028f75d85cf7d58c4e266f6c8c2521621d0a4a3bb94bf9543e85b",
+    "visual_seed": 3613599558553356562,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee286ea8db404d74696c5ec0fccf844f4c8b865
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_71_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc7feb5f293fa0c5419a09cfabdec89291b0543
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_72_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.20829949237564738,
+              -0.09357085904365528,
+              1.1665170638771674
+            ],
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+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3054105558624015,
+            "gripper_z": 1.1605801115247787,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20354129282461,
+              -0.09818695915631982,
+              1.1605801115247787
+            ],
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+              0.004758199551037373,
+              0.004616100112664542,
+              0.005936952352388669
+            ],
+            "object_to_gripper_xy": 0.006629392371675843,
+            "object_to_gripper_z": 0.005936952352388669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20829949237564738,
+              -0.11753272384101436,
+              1.1665170638771674
+            ],
+            "finger_b": [
+              0.19798883228002093,
+              -0.09357085904365528,
+              1.1665170638771674
+            ],
+            "finger_midpoint": [
+              0.20314416232783417,
+              -0.10555179144233481,
+              1.1665170638771674
+            ],
+            "object_minus_finger_midpoint": [
+              0.005155330047813211,
+              0.011980932398679534,
+              0.0
+            ],
+            "finger_gap": 0.02608602453756532,
+            "fingertip_max_gap": 0.09219633690044549,
+            "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": 1.2169649239118312,
+            "finger_top_clearance": 0.05044786003466384,
+            "fingertip_min_top_clearance": 0.01513435801039915,
+            "object_projection_between_fingers": 0.8437726223098683,
+            "object_to_finger_line_xy": 0.009471073019468439,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048598168450222745,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0853357851933199,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2751871385619797,
+              -0.31217500733782694,
+              0.8515395798342099
+            ],
+            "target_position": [
+              0.2675918984851186,
+              -0.3122461984368153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007595573710901094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827889432320941,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395798342099,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574046875962041,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702734297508029,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500994044956963,
+            "release_required_pad_clearance": 0.053513671487540146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.0394318002792384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006955325603485107,
+            "max_z_decrease": 0.006955325603485107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098353417222145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006955325603485107,
+            "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": 0.021147001886420238,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006955325603485107,
+            "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": 0.006955345598427127,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12329182773828505,
+              -0.36850765347480774,
+              0.7768088579177856
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+            "button_final": [
+              0.12329182773828505,
+              -0.36850765347480774,
+              0.7768088579177856
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+            "closest_ee": [
+              0.12331884476982871,
+              -0.36862592668789823,
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+            "closest_button": [
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+              3.5354231231632394e-05,
+              -0.00011559100407559919,
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+              0.12327515333890914,
+              -0.368507981300354,
+              0.7698535323143005
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+            "min_active_finger_to_button": 0.14614825790794028,
+            "closest_active_finger": [
+              -0.01768844574689865,
+              -0.35109037160873413,
+              0.8107518553733826
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+              0.12329193949699399,
+              -0.3685087263584137,
+              0.776394248008728
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14098038524389264,
+              0.017418354749679565,
+              0.03435760736465454
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+            "min_contact_pad_to_button": 0.021147001886420238,
+            "closest_contact_pad": [
+              0.12327515333890914,
+              -0.36994904407343226,
+              0.790951376442749
+            ],
+            "closest_contact_pad_button": [
+              0.12327515333890914,
+              -0.368507981300354,
+              0.7698535323143005
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001441062773078261,
+              0.021097844128448506
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7dfd6d02868186cfeefa1ec6ba9281461ce92cebd2ee6e32a192584cc8da6a37",
+    "visual_seed": 8039634707689693195,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
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+      7048677080094423649,
+      1480185638166204106,
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+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e5a373e99e08e7cf8ec2400a71721e918055df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_73_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.166697045913029
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+              1.1604102348829988
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+              0.0044605298107536495,
+              0.006286811030030259
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+              -0.11456762142487592,
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+              -0.09060936927893433,
+              1.166697045913029
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+              0.011979126072970789,
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+              0.0,
+              1.0
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+            "stable_success_frames": 318,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.851539566307716
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+              0.26693446306058816,
+              -0.3183412172030129,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "max_contacted_z_stable_frames": 77,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
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+            "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": 0.006871065724961062,
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+            "button_start": [
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+              -0.3746029138565063,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.015332728624343817,
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+            "min_contact_pad_to_button": 0.02116589981914051,
+            "closest_contact_pad": [
+              0.12261737138032912,
+              -0.37627799862588523,
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+            "closest_contact_pad_button": [
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+              -0.3746031522750854,
+              0.7699378132820129
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0016748463507998412,
+              0.021099530915522857
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7917a7d3458de8c35298fe1d7f79850184b5e8829c09cf98719af852bfba93af",
+    "visual_seed": 8620117171621687830,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1be1c87501549322aa348a79396372f3f35ba93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21467273349228652,
+              -0.08892700082063223,
+              1.1672604171610823
+            ],
+            "current_z": 1.1672604171610823,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30615396875096124,
+            "gripper_z": 1.161039227125601,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20992815823657562,
+              -0.0934579470331069,
+              1.161039227125601
+            ],
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+              0.004744575255710898,
+              0.004530946212474671,
+              0.006221190035481383
+            ],
+            "object_to_gripper_xy": 0.0065605234499575334,
+            "object_to_gripper_z": 0.006221190035481383,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21467273349228652,
+              -0.11292929396618477,
+              1.1672604171610823
+            ],
+            "finger_b": [
+              0.2044659171313305,
+              -0.08892700082063223,
+              1.1672604171610823
+            ],
+            "finger_midpoint": [
+              0.2095693253118085,
+              -0.1009281473934085,
+              1.1672604171610823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005103408180478025,
+              0.012001146572776261,
+              0.0
+            ],
+            "finger_gap": 0.026082353737178664,
+            "fingertip_max_gap": 0.09205273669184039,
+            "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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+            "fingertip_min_top_clearance": 0.015053881542201962,
+            "object_projection_between_fingers": 0.8468605648458792,
+            "object_to_finger_line_xy": 0.009392825542016772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048526368345920196,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1587981291224678,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "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"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27814181508689395,
+              -0.3185137136273739,
+              0.851539572204327
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+              0.2717099094840639,
+              -0.31796350905252463,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006455395786309413,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18332210256687287,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539572204327,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578762187073794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773106512343955,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15032681324833866,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.7406157571204615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006983935832977295,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510076467323843,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006983935832977295,
+            "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": 0.021100731060964124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006983935832977295,
+            "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": 0.006983955882466562,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.37422496080398554,
+              0.7768088579177856
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+            "button_final": [
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+              -0.37422496080398554,
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.3742248117923736,
+              0.7698249220848083
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+            "min_active_finger_to_button": 0.14663022506422396,
+            "closest_active_finger": [
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+              -0.43754440546035767,
+              0.8109243512153625
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+              -0.37422585487365717,
+              0.7765958309173584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772132456302643,
+              -0.0633185505867005,
+              0.03432852029800415
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+            "min_contact_pad_to_button": 0.021100731060964124,
+            "closest_contact_pad": [
+              0.12739309668540955,
+              -0.3751033984948903,
+              0.7909073540297548
+            ],
+            "closest_contact_pad_button": [
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+              -0.3742248117923736,
+              0.7698249220848083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000878586702516726,
+              0.02108243194494641
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "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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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f306e8c3b4d1b996ec23e8d656f42d29a6e28ba0a2d1a594b5d28b573f98ab1d",
+    "visual_seed": 2660163154093787361,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f24462e46eec0aa25efc47fd351df60df05560c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.20904927609149396,
+              -0.09472590524189099,
+              1.1654529469712305
+            ],
+            "current_z": 1.1654529469712305,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3043464985611095,
+            "gripper_z": 1.159386367620154,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20436814736975895,
+              -0.09923498269082201,
+              1.159386367620154
+            ],
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+              0.004681128721735012,
+              0.004509077448931018,
+              0.006066579351076573
+            ],
+            "object_to_gripper_xy": 0.006499595798964019,
+            "object_to_gripper_z": 0.006066579351076573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20904927609149396,
+              -0.11867961766853016,
+              1.1654529469712305
+            ],
+            "finger_b": [
+              0.19895902767341705,
+              -0.09472590524189099,
+              1.1654529469712305
+            ],
+            "finger_midpoint": [
+              0.20400415188245552,
+              -0.10670276145521057,
+              1.1654529469712305
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011976856213319578,
+              0.0
+            ],
+            "finger_gap": 0.02599218059641459,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2158374664366542,
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+            "fingertip_min_top_clearance": 0.015115355839627097,
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+            "object_to_finger_line_xy": 0.009298908493783915,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863284793199042,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.143163663096018,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2783544323211431,
+              -0.31691151413635943,
+              0.8515395029188534
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+              0.272133450387836,
+              -0.3163933017134984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006242528360347353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829040698076401,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395029188534,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574180831754439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875015029995624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.0537507514997812,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.5107714405742136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006960690021514893,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035197125126127826,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006960690021514893,
+            "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": 0.021094714967842876,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006960690021514893,
+            "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": 0.006960714034445089,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.37265476584434504,
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+            "button_final": [
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+              -0.37265476584434504,
+              0.7768088579177856
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+            "closest_ee": [
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+              -0.3726558089256286,
+              0.7698481678962708
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+            "min_active_finger_to_button": 0.1439594330584882,
+            "closest_active_finger": [
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+              -0.43270930647850037,
+              0.8107972145080566
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+            "closest_active_finger_button": [
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+              -0.3726556301116942,
+              0.7765778303146362
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12628106772899628,
+              -0.06005367636680614,
+              0.03421938419342041
+            ],
+            "min_contact_pad_to_button": 0.021094714967842876,
+            "closest_contact_pad": [
+              0.1278151273727417,
+              -0.3726558089256286,
+              0.7909428828641136
+            ],
+            "closest_contact_pad_button": [
+              0.1278151273727417,
+              -0.3726558089256286,
+              0.7698481678962708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021094714967842876
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2441ecba4c91404d19906c214f7768c82ffdbc257459fde97efbd4a9cf4a00a8",
+    "visual_seed": 3976807187764142332,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f13abb978d9137b4141331b419a5060ee2a9b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_76_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
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+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+              -0.09697138392474734,
+              1.166478290641738
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+            "current_z": 1.166478290641738,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30537154420839296,
+            "gripper_z": 1.160424042682661,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.10144895651251397,
+              1.160424042682661
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+              0.0047066015701726915,
+              0.004477572587766626,
+              0.0060542479590768306
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+            "object_to_gripper_z": 0.0060542479590768306,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.12106808920513634,
+              1.166478290641738
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+            "finger_b": [
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+              -0.09697138392474734,
+              1.166478290641738
+            ],
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+              0.2069405814937878,
+              -0.10901973656494185,
+              1.166478290641738
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012048352640194507,
+              0.0
+            ],
+            "finger_gap": 0.026048495810043648,
+            "fingertip_max_gap": 0.09220429198529612,
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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": 1.166478290641738,
+            "object_top_z": 1.2168196315000799,
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+            "fingertip_min_top_clearance": 0.015102402257502555,
+            "object_projection_between_fingers": 0.8557561570818663,
+            "object_to_finger_line_xy": 0.009151795520967712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860214599264806,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2267574831432853,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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"
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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
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.280377054038771,
+              -0.3164162623633375,
+              0.8515395984269462
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+              0.2736523996557915,
+              -0.31597014812749397,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067394357688123525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833770748364201,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395984269462,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558288796659948,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779027197395974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05389513598697987,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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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": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006979823112487793,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510242620638232,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006979823112487793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021126073206098085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006979823112487793,
+            "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": 0.006979844664242852,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_active_finger_button": [
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+              -0.3722325563430786,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.015759199857711792,
+              0.034348130226135254
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+            "min_contact_pad_to_button": 0.021126073206098085,
+            "closest_contact_pad": [
+              0.12933498620986938,
+              -0.37351612971421433,
+              0.7909160257964815
+            ],
+            "closest_contact_pad_button": [
+              0.12933498620986938,
+              -0.37223169207572937,
+              0.7698290348052979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012844376384849587,
+              0.021086990991183607
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b381f89a7491597859aa19860be94850f4dd067614d51c658eeff4aa850555b",
+    "visual_seed": 6268160132378069590,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c856036e414a4901fa96bb644024aa598adc3a0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_77_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20864568748039292,
+              -0.09842327858362797,
+              1.1661864394660122
+            ],
+            "current_z": 1.1661864394660122,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30508005066053556,
+            "gripper_z": 1.160054264183465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20422363955104544,
+              -0.10299901641393464,
+              1.160054264183465
+            ],
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+              0.004422047929347472,
+              0.004575737830306667,
+              0.00613217528254717
+            ],
+            "object_to_gripper_xy": 0.0063633233912120035,
+            "object_to_gripper_z": 0.00613217528254717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20864568748039292,
+              -0.12191057584394623,
+              1.1661864394660122
+            ],
+            "finger_b": [
+              0.1980440661477462,
+              -0.09842327858362797,
+              1.1661864394660122
+            ],
+            "finger_midpoint": [
+              0.20334487681406954,
+              -0.1101669272137871,
+              1.1661864394660122
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053008106663233745,
+              0.011743648630159129,
+              0.0
+            ],
+            "finger_gap": 0.025769119260762162,
+            "fingertip_max_gap": 0.09248948860392309,
+            "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": 1.1661864394660122,
+            "object_top_z": 1.2165359088477272,
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+            "fingertip_min_top_clearance": 0.015104840814514508,
+            "object_projection_between_fingers": 0.8307434729961749,
+            "object_to_finger_line_xy": 0.009662861549962024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048744744301961546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.564988067162935,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27871733302799473,
+              -0.3095065566546725,
+              0.8515395998802441
+            ],
+            "target_position": [
+              0.2699484618315445,
+              -0.31015207089209157,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008792598631271966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856611961419145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395998802441,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538324682451104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590081189043329,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538638556559775,
+            "release_required_pad_clearance": 0.05295040594521665,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9371094491045607,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006851673126220703,
+            "max_z_decrease": 0.006851673126220703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035151708330643384,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006851673126220703,
+            "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": 0.0211079217161394,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006851673126220703,
+            "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": 0.006851692350901206,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12564839422702787,
+              -0.36641353368759155,
+              0.7768088579177856
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+            "button_final": [
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+              -0.36641353368759155,
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+            "closest_ee": [
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+              -0.3647638848673159,
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+            "closest_button": [
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+              0.12563222646713254,
+              -0.3664149641990661,
+              0.7699571847915649
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+            "min_active_finger_to_button": 0.14472501743853092,
+            "closest_active_finger": [
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+              -0.4276972711086273,
+              0.8108338713645935
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+            "closest_active_finger_button": [
+              0.1256485134363174,
+              -0.36641460657119745,
+              0.7765275835990906
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12654186785221094,
+              -0.061282664537429865,
+              0.03430628776550293
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+            "min_contact_pad_to_button": 0.0211079217161394,
+            "closest_contact_pad": [
+              0.12563222646713254,
+              -0.3664149641990661,
+              0.7910651065077043
+            ],
+            "closest_contact_pad_button": [
+              0.12563222646713254,
+              -0.3664149641990661,
+              0.7699571847915649
+            ],
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2adb7d1196ba77548a28754c81904d6b8e73bb7c11402de7b01d0cb0dc3e2bc8",
+    "visual_seed": 3574317631982968272,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55aa8e7a7c4f5c702f2b318ca2736a917babc7cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.0882463315165797,
+              1.1645655028860737
+            ],
+            "current_z": 1.1645655028860737,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30345905447595245,
+            "gripper_z": 1.1585747118448815,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20649937664308704,
+              -0.09284769960125007,
+              1.1585747118448815
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+              0.004690809482091524,
+              0.0046013680846703625,
+              0.005990791041192267
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+            "object_to_gripper_xy": 0.006570866141377615,
+            "object_to_gripper_z": 0.005990791041192267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21119018612517856,
+              -0.11215171979684743,
+              1.1645655028860737
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+            "finger_b": [
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+              -0.0882463315165797,
+              1.1645655028860737
+            ],
+            "finger_midpoint": [
+              0.2060238066421769,
+              -0.10019902565671357,
+              1.1645655028860737
+            ],
+            "object_minus_finger_midpoint": [
+              0.005166379483001665,
+              0.011952694140133863,
+              0.0
+            ],
+            "finger_gap": 0.02604291643959799,
+            "fingertip_max_gap": 0.09205437116502171,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2149295898771268,
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+            "fingertip_min_top_clearance": 0.015109226097315964,
+            "object_projection_between_fingers": 0.842582372631009,
+            "object_to_finger_line_xy": 0.009484675637677527,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852718558251086,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0931338029268782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2786395258461639,
+              -0.31327446305798345,
+              0.8515395725641686
+            ],
+            "target_position": [
+              0.2705456657448233,
+              -0.31347940961000664,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008096454435693418,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18443173070123273,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395725641686,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753622495884087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859930941725603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15259048819030432,
+            "release_required_pad_clearance": 0.052996547086280155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0264000321007762,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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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": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006777584552764893,
+            "max_z_decrease": 0.006777584552764893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514854291660254,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006777584552764893,
+            "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": 0.02128073361007035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006777584552764893,
+            "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": 0.006777603452913312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12624558806419373,
+              -0.3697408735752105,
+              0.7768088579177856
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+            "button_final": [
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+              -0.3697408735752105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
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+            "closest_button": [
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+              -0.36974060535430897,
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+            "min_active_finger_to_button": 0.14702226823848444,
+            "closest_active_finger": [
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+              -0.35363689064979553,
+              0.8110639452934265
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+            "closest_active_finger_button": [
+              0.126247376203537,
+              -0.3697423636913299,
+              0.7767631411552429
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420549750328064,
+              0.01610547304153437,
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5e8b6f67cc48d5af428160158621be3e8380f9bcaeb0207b3d35423e04d1ea3",
+    "visual_seed": 3334414586318891624,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f871f6775cbcaf0ca23d11c7586697c271fd7ab9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_79_success.json
@@ -0,0 +1,2014 @@
+{
+  "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",
+      "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": [
+              0.21739828527032387,
+              -0.0864720676863852,
+              1.1673222335228561
+            ],
+            "current_z": 1.1673222335228561,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3062157255080902,
+            "gripper_z": 1.1612019653021757,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2128168474365946,
+              -0.0911351588152913,
+              1.1612019653021757
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+              0.004581437833729274,
+              0.004663091128906102,
+              0.006120268220680458
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+            "object_to_gripper_xy": 0.006537124100153581,
+            "object_to_gripper_z": 0.006120268220680458,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              -0.11009761021085918,
+              1.1673222335228561
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+            "finger_b": [
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+              -0.0864720676863852,
+              1.1673222335228561
+            ],
+            "finger_midpoint": [
+              0.2120434104259602,
+              -0.0982848389486222,
+              1.1673222335228561
+            ],
+            "object_minus_finger_midpoint": [
+              0.005354874844363672,
+              0.011812771262236996,
+              0.0
+            ],
+            "finger_gap": 0.025939641438750154,
+            "fingertip_max_gap": 0.09228709783805181,
+            "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": 1.1673222335228561,
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+            "fingertip_min_top_clearance": 0.01509794093186374,
+            "object_projection_between_fingers": 0.8295367737345845,
+            "object_to_finger_line_xy": 0.00975432321587603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048643548919025906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3841248450660832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2850350520675964,
+              -0.3109861959123449,
+              0.8515396678884681
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+            "target_position": [
+              0.27639759339596887,
+              -0.31179342187838627,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008675096890774468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476564392073502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396678884681,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591747393486778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08725861727487348,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517572401682424,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.268718827970491,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006919384002685547,
+            "max_z_decrease": 0.006919384002685547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510419320473215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006919384002685547,
+            "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": 0.021097357754943452,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006919384002685547,
+            "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": 0.006919403458979006,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.3680548667907715,
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              0.7698894739151001
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+            "min_active_finger_to_button": 0.14642748485869805,
+            "closest_active_finger": [
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+              -0.43177786469459534,
+              0.8109713196754456
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+            "closest_active_finger_button": [
+              0.1320996433496475,
+              -0.3680554032325745,
+              0.7766932845115662
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0096cc14319b356ebdf758f0a6288ef612f1df048c7cd1f030caa66fde1ab19f",
+    "visual_seed": 4690856608334632761,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba374d520b534d63e94ba87decaef804dbf98f90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_7_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21485184810244742,
+              -0.08874314104483978,
+              1.1676911460517116
+            ],
+            "current_z": 1.1676911460517116,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3065846380369459,
+            "gripper_z": 1.1616164932648347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21016904595563898,
+              -0.09334019867543487,
+              1.1616164932648347
+            ],
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+              0.00468280214680844,
+              0.004597057630595092,
+              0.006074652786876911
+            ],
+            "object_to_gripper_xy": 0.00656213187959266,
+            "object_to_gripper_z": 0.006074652786876911,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21485184810244742,
+              -0.11251668267832485,
+              1.1676911460517116
+            ],
+            "finger_b": [
+              0.20435823078905696,
+              -0.08874314104483978,
+              1.1676911460517116
+            ],
+            "finger_midpoint": [
+              0.2096050394457522,
+              -0.10062991186158232,
+              1.1676911460517116
+            ],
+            "object_minus_finger_midpoint": [
+              0.005246808656695218,
+              0.01188677081674254,
+              0.0
+            ],
+            "finger_gap": 0.02598648275775188,
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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": 1.1676911460517116,
+            "object_top_z": 1.2180178254606866,
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+            "fingertip_min_top_clearance": 0.015098003822692517,
+            "object_projection_between_fingers": 0.8369369956264062,
+            "object_to_finger_line_xy": 0.009600008220093948,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867733360922884,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3188384317658022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27866949925696793,
+              -0.3106211866574573,
+              0.8515395919004402
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+            "target_position": [
+              0.2703017578087196,
+              -0.31092452007135013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008373237611862967,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473779382619362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395919004402,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520713603967182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547935662247043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15346228623847474,
+            "release_required_pad_clearance": 0.052739678311235216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5308163798375638,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006712198257446289,
+            "max_z_decrease": 0.006712198257446289,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035160385892209295,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006712198257446289,
+            "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": 0.021309338339093802,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.006712198257446289,
+            "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": 0.006712220515201824,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12600168585777277,
+              -0.3671859800815582,
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+            "object_z": 0.8326939749369638,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677590786975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13484207094566986,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fef822cb46f3efb26499695e5a4168de979c6f8e65fea4e805b99a6fdbe57567",
+    "visual_seed": 5156664490367454459,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..480d61177d51f861f117518b0d3762885a2c361f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_81_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21181555836180818,
+              -0.09218988506263183,
+              1.1676899423352247
+            ],
+            "current_z": 1.1676899423352247,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30658349392510353,
+            "gripper_z": 1.1617298572704096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20697534861964093,
+              -0.09674978236168559,
+              1.1617298572704096
+            ],
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+              0.004840209742167256,
+              0.004559897299053761,
+              0.005960085064815157
+            ],
+            "object_to_gripper_xy": 0.006649834112674436,
+            "object_to_gripper_z": 0.005960085064815157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21181555836180818,
+              -0.11631950343512441,
+              1.1676899423352247
+            ],
+            "finger_b": [
+              0.20168159486232987,
+              -0.09218988506263183,
+              1.1676899423352247
+            ],
+            "finger_midpoint": [
+              0.20674857661206902,
+              -0.10425469424887812,
+              1.1676899423352247
+            ],
+            "object_minus_finger_midpoint": [
+              0.005066981749739158,
+              0.012064809186246292,
+              0.0
+            ],
+            "finger_gap": 0.026171276220522576,
+            "fingertip_max_gap": 0.0921696344949548,
+            "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": 1.1676899423352247,
+            "object_top_z": 1.2180350376711715,
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+            "fingertip_min_top_clearance": 0.015103528600783999,
+            "object_projection_between_fingers": 0.850062982033112,
+            "object_to_finger_line_xy": 0.009343398838587412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485848172474774,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1456460949314573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2755584128238565,
+              -0.31263982575882127,
+              0.8515396309773735
+            ],
+            "target_position": [
+              0.2681753400123395,
+              -0.3124175252661625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007386418729614375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840881171506556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396309773735,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521108714093235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642400965695977,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252101160384926,
+            "release_required_pad_clearance": 0.05321200482847989,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4461514887621563,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007004201412200928,
+            "max_z_decrease": 0.007004201412200928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511932586861298,
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+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2709079773509992,
+              0.1440099597685039,
+              0.833588716157983
+            ],
+            "target_position": [
+              0.2821300390678897,
+              0.19090283200246044,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048216969373114614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17019804192712779,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833588716157983,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567219587604,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1385364220076271,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f77a34774644bf656b76c7f511fce65f055864fec043df973d761c4c30734c37",
+    "visual_seed": 7735788269136730904,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3d205cb0ad683b59d1a2cb0fb96e9787bb12d18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_82_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21679719330179734,
+              -0.08877662310913031,
+              1.1637626939583083
+            ],
+            "current_z": 1.1637626939583083,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30265624554818715,
+            "gripper_z": 1.1576714556663876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2120723548763842,
+              -0.09337035093746103,
+              1.1576714556663876
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+              0.00472483842541313,
+              0.004593727828330715,
+              0.006091238291920709
+            ],
+            "object_to_gripper_xy": 0.006589873557743006,
+            "object_to_gripper_z": 0.006091238291920709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21679719330179734,
+              -0.1127813931306787,
+              1.1637626939583083
+            ],
+            "finger_b": [
+              0.20648274281056236,
+              -0.08877662310913031,
+              1.1637626939583083
+            ],
+            "finger_midpoint": [
+              0.21163996805617985,
+              -0.1007790081199045,
+              1.1637626939583083
+            ],
+            "object_minus_finger_midpoint": [
+              0.005157225245617486,
+              0.012002385010774191,
+              0.0
+            ],
+            "finger_gap": 0.026126937683616222,
+            "fingertip_max_gap": 0.09276663078655148,
+            "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": 1.1637626939583083,
+            "object_top_z": 1.2139315986753725,
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+            "fingertip_min_top_clearance": 0.01505067141511921,
+            "object_projection_between_fingers": 0.8441469978442496,
+            "object_to_finger_line_xy": 0.009476656427898376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888331539327574,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9033327241271567,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 316,
+            "max_stable_success_frames": 316,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27505072613342596,
+              -0.31113297135012874,
+              0.851539548384292
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+            "target_position": [
+              0.26943723062454167,
+              -0.3100321388031942,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005720416429304297,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842542357860291,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539548384292,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590691686400805,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08850718994024205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15094995010864928,
+            "release_required_pad_clearance": 0.05425359497012103,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5258384328670944,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27447323572627874,
+            -0.3130359726545994,
+            1.0434370294732997
+          ],
+          "object_origin_world": [
+            0.27447323572627874,
+            -0.3130359726545994,
+            1.0434370294732997
+          ],
+          "frame_world": [
+            0.27447166442560084,
+            -0.3130379121086878,
+            1.0433319411159494
+          ],
+          "center_minus_frame": [
+            1.5713006779050076e-06,
+            1.9394540883843625e-06,
+            0.00010508835735034694
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27001624035277133,
+              0.14360735342806272,
+              0.832931728521727
+            ],
+            "target_position": [
+              0.28331733266151427,
+              0.18928911531461629,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04757880227228801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16723908647923752,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832931728521727,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671606846183,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13755243354185362,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73931335b0b21429668502ec68ccbc246202163c863a1b7b490668348487fe55",
+    "visual_seed": 2442021758586838907,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43f8370641d9416a95f85b39f4a4dbb4a30ccbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_83_success.json
@@ -0,0 +1,2008 @@
+{
+  "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,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20618834033889194,
+              -0.09392079521530859,
+              1.164301613266939
+            ],
+            "current_z": 1.164301613266939,
+            "required_z": 0.8611064484101214,
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+            "lift_margin": 0.30319516485681763,
+            "gripper_z": 1.158362207215625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2015079730893093,
+              -0.09865022820234615,
+              1.158362207215625
+            ],
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+              0.004680367249582651,
+              0.0047294329870375545,
+              0.0059394060513140445
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+            "object_to_gripper_xy": 0.006653824011036423,
+            "object_to_gripper_z": 0.0059394060513140445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20618834033889194,
+              -0.11757171138722573,
+              1.164301613266939
+            ],
+            "finger_b": [
+              0.19534918548531305,
+              -0.09392079521530859,
+              1.164301613266939
+            ],
+            "finger_midpoint": [
+              0.2007687629121025,
+              -0.10574625330126716,
+              1.164301613266939
+            ],
+            "object_minus_finger_midpoint": [
+              0.005419577426789446,
+              0.01182545808595857,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.214635986400761,
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+            "object_projection_between_fingers": 0.8264213083164719,
+            "object_to_finger_line_xy": 0.009853628263010651,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880947498798094,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6135541807846985,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27772311623154045,
+              -0.3109932015492439,
+              0.8515395835690109
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+            "target_position": [
+              0.2698187492838081,
+              -0.3111933022359406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007906899337238324,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588578063218886,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395835690109,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562100889704652,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650128759748861,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15347550370535568,
+            "release_required_pad_clearance": 0.05325064379874431,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5215805704803227,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27575427284673504,
+            -0.3109335826338158,
+            1.0434578570572048
+          ],
+          "object_origin_world": [
+            0.27575427284673504,
+            -0.3109335826338158,
+            1.0434578570572048
+          ],
+          "frame_world": [
+            0.2757527518332824,
+            -0.3109353997650301,
+            1.0433527247754317
+          ],
+          "center_minus_frame": [
+            1.521013452632225e-06,
+            1.8171312142767349e-06,
+            0.00010513228177311262
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2727480440651485,
+              0.14028299915834377,
+              0.8337079174620068
+            ],
+            "target_position": [
+              0.28280615347951105,
+              0.18754299230462534,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0483184490353102,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17148609712006424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337079174620068,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672295455785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14018446649541638,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1f724738eb0cda8cc7a8cb1f0d19f6a547e524173ad9139aa7e03f1a9c28a2f",
+    "visual_seed": 4061015943438249432,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..976d23170cf6c92f01b9de727d281f77de4cfd96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_84_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 84,
+  "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": [
+              0.20787297633035556,
+              -0.08552964111691307,
+              1.1648595995795603
+            ],
+            "current_z": 1.1648595995795603,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30375309156479435,
+            "gripper_z": 1.158834343778446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20305147049606753,
+              -0.09013366321291369,
+              1.158834343778446
+            ],
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+              0.004821505834288031,
+              0.004604022096000623,
+              0.006025255801114238
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+            "object_to_gripper_xy": 0.006666628681015277,
+            "object_to_gripper_z": 0.006025255801114238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20787297633035556,
+              -0.10947004466770816,
+              1.1648595995795603
+            ],
+            "finger_b": [
+              0.19749193205166887,
+              -0.08552964111691307,
+              1.1648595995795603
+            ],
+            "finger_midpoint": [
+              0.20268245419101222,
+              -0.09749984289231062,
+              1.1648595995795603
+            ],
+            "object_minus_finger_midpoint": [
+              0.005190522139343345,
+              0.011970201775397551,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.0920111068132074,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2152049143634274,
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+            "object_projection_between_fingers": 0.8417320377292531,
+            "object_to_finger_line_xy": 0.009524188279455963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485055534066037,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.867991713827989,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2783366502675106,
+              -0.31163678002154216,
+              0.8515396090016673
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+            "target_position": [
+              0.26979854457782554,
+              -0.31205667619413924,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00854842450770865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18300135021815764,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396090016673,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576721036920847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705779467416709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502506753701054,
+            "release_required_pad_clearance": 0.05352889733708355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0695295242106972,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27797846349289734,
+            -0.3108221229697913,
+            1.043377590097515
+          ],
+          "object_origin_world": [
+            0.27797846349289734,
+            -0.3108221229697913,
+            1.043377590097515
+          ],
+          "frame_world": [
+            0.277976833137466,
+            -0.31082422672459137,
+            1.0432717300093204
+          ],
+          "center_minus_frame": [
+            1.6303554313257251e-06,
+            2.1037548000868433e-06,
+            0.00010586008819468695
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27069374307266564,
+              0.138455375168957,
+              0.8328880973529891
+            ],
+            "target_position": [
+              0.2826901713789115,
+              0.18451847803333515,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04759961909092529,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16807391087269002,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328880973529891,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668911573091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13814492846853357,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2925e5047cd501c894687ac69f7116d7a449f96a922a5f915656c3ba1f974cad",
+    "visual_seed": 5217295320217166691,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3844a98a52a4c1190477a73d45b6b36ff638f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_85_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2123427057946984,
+              -0.08404857782148491,
+              1.1670493634527785
+            ],
+            "current_z": 1.1670493634527785,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3059428554380125,
+            "gripper_z": 1.160880393387534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20767388635804623,
+              -0.0885497087508021,
+              1.160880393387534
+            ],
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+              0.004668819436652177,
+              0.004501130929317199,
+              0.006168970065244528
+            ],
+            "object_to_gripper_xy": 0.006485218159392717,
+            "object_to_gripper_z": 0.006168970065244528,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2123427057946984,
+              -0.10798567347399801,
+              1.1670493634527785
+            ],
+            "finger_b": [
+              0.2021676997650289,
+              -0.08404857782148491,
+              1.1670493634527785
+            ],
+            "finger_midpoint": [
+              0.20725520277986365,
+              -0.09601712564774145,
+              1.1670493634527785
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050875030148347655,
+              0.011968547826256545,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.0919351809501524,
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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": 1.1670493634527785,
+            "object_top_z": 1.2171943944741885,
+            "finger_top_clearance": 0.05014503102140999,
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+            "object_projection_between_fingers": 0.8469646609340503,
+            "object_to_finger_line_xy": 0.009364127542126222,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048467590475076205,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1525422784541375,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "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"
+                }
+              ],
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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.277162230639202,
+              -0.31731794676851743,
+              0.8515395994378236
+            ],
+            "target_position": [
+              0.26993594508079694,
+              -0.317038253314536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072316963016856115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519677918146202,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395994378236,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542588546192752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08700440403380989,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15318709462347357,
+            "release_required_pad_clearance": 0.05350220201690495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0166607948384154,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27596851814214424,
+            -0.317410760244289,
+            1.0434168815271117
+          ],
+          "object_origin_world": [
+            0.27596851814214424,
+            -0.317410760244289,
+            1.0434168815271117
+          ],
+          "frame_world": [
+            0.27596690193752205,
+            -0.31741329370647203,
+            1.04331066267256
+          ],
+          "center_minus_frame": [
+            1.6162046221901427e-06,
+            2.5334621830408466e-06,
+            0.00010621885455175395
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27003576075722624,
+              0.1423947758792437,
+              0.8329159698782318
+            ],
+            "target_position": [
+              0.2834892345048387,
+              0.18785576445206403,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04740988755413577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16627256931681367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329159698782318,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670385259467,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13636793681134854,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "946530982ab7cd3a5f63a22cd341f25e0f5484639b799eb7a7b45d2fe66ad39e",
+    "visual_seed": 9179487813713446040,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a3bd7154b4f635db5438b96be256034a08d755
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_86_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 86,
+  "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": [
+              0.21346612121846475,
+              -0.09302402722330821,
+              1.1658634102583196
+            ],
+            "current_z": 1.1658634102583196,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30475690224355345,
+            "gripper_z": 1.1599497970562258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20871543108827317,
+              -0.09760935904166589,
+              1.1599497970562258
+            ],
+            "object_minus_gripper": [
+              0.004750690130191582,
+              0.004585331818357671,
+              0.005913613202093826
+            ],
+            "object_to_gripper_xy": 0.006602599836242007,
+            "object_to_gripper_z": 0.005913613202093826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21346612121846475,
+              -0.11699001050372493,
+              1.1658634102583196
+            ],
+            "finger_b": [
+              0.20317705617887508,
+              -0.09302402722330821,
+              1.1658634102583196
+            ],
+            "finger_midpoint": [
+              0.2083215886986699,
+              -0.10500701886351657,
+              1.1658634102583196
+            ],
+            "object_minus_finger_midpoint": [
+              0.005144532519794853,
+              0.011982991640208357,
+              0.0
+            ],
+            "finger_gap": 0.02608128091152963,
+            "fingertip_max_gap": 0.09233876979414357,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013040640455764823,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658634102583196,
+            "object_top_z": 1.2162030516154136,
+            "finger_top_clearance": 0.05033964135709401,
+            "fingertip_min_top_clearance": 0.015101892407128203,
+            "object_projection_between_fingers": 0.8443697584707078,
+            "object_to_finger_line_xy": 0.009454580146825488,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866938489707179,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.396764362122858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27791561369076107,
+              -0.30987208975520397,
+              0.851539552196298
+            ],
+            "target_position": [
+              0.2706303719905,
+              -0.30966566931076833,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007288165477752533,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835294631302704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539552196298,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527330644919766,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616635763139886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15187419303051744,
+            "release_required_pad_clearance": 0.05308317881569943,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1948326018460085,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2763004912880493,
+            -0.30840746361182847,
+            1.0434248430032453
+          ],
+          "object_origin_world": [
+            0.2763004912880493,
+            -0.30840746361182847,
+            1.0434248430032453
+          ],
+          "frame_world": [
+            0.27629887689723104,
+            -0.3084093852835558,
+            1.0433203123773074
+          ],
+          "center_minus_frame": [
+            1.6143908182497668e-06,
+            1.9216717273562445e-06,
+            0.0001045306259379597
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2681275765974836,
+              0.14141262084484202,
+              0.8337009741125895
+            ],
+            "target_position": [
+              0.2777265062138895,
+              0.1884985450172692,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048054382786092226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16908864376980295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337009741125895,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670065393578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13764133036040116,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9acae4d198e27afc9aefa3be625dd09285ce965abc96b77becaa06e2b791567f",
+    "visual_seed": 6117754109199983212,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a711db11070899369033da96f7515686603f426
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_87_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21587783279870496,
+              -0.08835683577382884,
+              1.1673576679965123
+            ],
+            "current_z": 1.1673576679965123,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30625115998174646,
+            "gripper_z": 1.1613420899964761,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21113861591657357,
+              -0.09294937303460903,
+              1.1613420899964761
+            ],
+            "object_minus_gripper": [
+              0.004739216882131386,
+              0.004592537260780183,
+              0.006015578000036159
+            ],
+            "object_to_gripper_xy": 0.006599361722737547,
+            "object_to_gripper_z": 0.006015578000036159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21587783279870496,
+              -0.11227893104605435,
+              1.1673576679965123
+            ],
+            "finger_b": [
+              0.20547844369343687,
+              -0.08835683577382884,
+              1.1673576679965123
+            ],
+            "finger_midpoint": [
+              0.2106781382460709,
+              -0.1003178834099416,
+              1.1673576679965123
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199694552634054,
+              0.011961047636112762,
+              0.0
+            ],
+            "finger_gap": 0.026084745273362412,
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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": 1.1673576679965123,
+            "object_top_z": 1.2175891871644922,
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+            "fingertip_min_top_clearance": 0.015069455750393956,
+            "object_projection_between_fingers": 0.8410566156208903,
+            "object_to_finger_line_xy": 0.009537190198411268,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048519676225893066,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2635943799874567,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777005433830688,
+              -0.3133909859142765,
+              0.8515396072861087
+            ],
+            "target_position": [
+              0.2699027016703848,
+              -0.3134043276071078,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007797853126139403,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18682872565003075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396072861087,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000603074569173056,
+              "rod_tip_xy_max_step": 3.272847320086349e-05,
+              "rod_tip_xy_range": 0.000603062258765587,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27655281282084065,
+            -0.313385285425506,
+            1.043379930024527
+          ],
+          "object_origin_world": [
+            0.27655281282084065,
+            -0.313385285425506,
+            1.043379930024527
+          ],
+          "frame_world": [
+            0.2765512130807105,
+            -0.3133874236566673,
+            1.04327460732509
+          ],
+          "center_minus_frame": [
+            1.599740130142635e-06,
+            2.1382311612971883e-06,
+            0.00010532269943697159
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27116948037867455,
+              0.1454581302165579,
+              0.8331831818243041
+            ],
+            "target_position": [
+              0.28241676143913924,
+              0.19190106537381563,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04778543247972475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16920733296983115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331831818243041,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667529662856,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13779487641340965,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18921b8085970bc356bd58b5311c4468ed721d634288c6aa2e89137eda518e25",
+    "visual_seed": 7129147330219044556,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1c1db6025917e2ca810bc6aced1aed89c25e78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21652029598843256,
+              -0.09324379263996602,
+              1.1675100634101954
+            ],
+            "current_z": 1.1675100634101954,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3064035553954295,
+            "gripper_z": 1.1612830389674857,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21192272276851104,
+              -0.09783387278221571,
+              1.1612830389674857
+            ],
+            "object_minus_gripper": [
+              0.004597573219921519,
+              0.0045900801422496945,
+              0.006227024442709617
+            ],
+            "object_to_gripper_xy": 0.006496654156164887,
+            "object_to_gripper_z": 0.006227024442709617,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21652029598843256,
+              -0.11696924833215502,
+              1.1675100634101954
+            ],
+            "finger_b": [
+              0.2060501208829716,
+              -0.09324379263996602,
+              1.1675100634101954
+            ],
+            "finger_midpoint": [
+              0.2112852084357021,
+              -0.10510652048606052,
+              1.1675100634101954
+            ],
+            "object_minus_finger_midpoint": [
+              0.005235087552730472,
+              0.011862727846094503,
+              0.0
+            ],
+            "finger_gap": 0.025933025557019727,
+            "fingertip_max_gap": 0.09203931197100526,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012966512778509858,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1675100634101954,
+            "object_top_z": 1.2179393678226589,
+            "finger_top_clearance": 0.050429304412463516,
+            "fingertip_min_top_clearance": 0.015128791323739054,
+            "object_projection_between_fingers": 0.8369947793978582,
+            "object_to_finger_line_xy": 0.009578892945132398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851965598550263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0141384342950235,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+                "target_xy_drift": 2.585954534134364e-07,
+                "depth": 0.019794643887517505,
+                "bottom_clearance": 0.07964599170915043,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006069432617960208,
+              "rod_tip_xy_max_step": 3.2839135629445366e-05,
+              "rod_tip_xy_range": 0.0006069356911635985,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27991117282236644,
+            -0.31624359948267494,
+            1.0434006165096852
+          ],
+          "object_origin_world": [
+            0.27991117282236644,
+            -0.31624359948267494,
+            1.0434006165096852
+          ],
+          "frame_world": [
+            0.2799094069047568,
+            -0.31624628066188265,
+            1.0432928692293297
+          ],
+          "center_minus_frame": [
+            1.7659176096418427e-06,
+            2.681179207708606e-06,
+            0.00010774728035545245
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2710878131488434,
+              0.13933590911043645,
+              0.8337770234767214
+            ],
+            "target_position": [
+              0.28073632057757036,
+              0.18651474702190102,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815533659189235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1692455325348626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337770234767214,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674551982965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13753866823025157,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "793d03ca2c3a3302706d03576a0a2b90467d30c798f52e37b3e7e9350b8acdf4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2767ff89d9f1beec5c36369f10eb2142ab287d2d6ece5acc7c24a3b0494c490e",
+    "visual_seed": 3183828218056210555,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "2575cdfd10ae0c0a06363e3105c203e9be52731c471144e118a051537694c28a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ece25e906442eeb2185c89c3e83897de783f01e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00032/results/episode_9_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.21064838449636702,
+              -0.08635603827662837,
+              1.1637771218343507
+            ],
+            "current_z": 1.1637771218343507,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30267073302887404,
+            "gripper_z": 1.1578063082374588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2058747935102103,
+              -0.09091959965431153,
+              1.1578063082374588
+            ],
+            "object_minus_gripper": [
+              0.004773590986156734,
+              0.004563561377683156,
+              0.0059708135968918885
+            ],
+            "object_to_gripper_xy": 0.006604033869613193,
+            "object_to_gripper_z": 0.0059708135968918885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21064838449636702,
+              -0.11031525527178018,
+              1.1637771218343507
+            ],
+            "finger_b": [
+              0.20035683377899183,
+              -0.08635603827662837,
+              1.1637771218343507
+            ],
+            "finger_midpoint": [
+              0.20550260913767943,
+              -0.09833564677420428,
+              1.1637771218343507
+            ],
+            "object_minus_finger_midpoint": [
+              0.005145775358687599,
+              0.011979608497575914,
+              0.0
+            ],
+            "finger_gap": 0.02607604446976338,
+            "fingertip_max_gap": 0.09218512376434759,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013038022234881697,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637771218343507,
+            "object_top_z": 1.214127733922666,
+            "finger_top_clearance": 0.05035061208831526,
+            "fingertip_min_top_clearance": 0.015105183626494578,
+            "object_projection_between_fingers": 0.8442320116758415,
+            "object_to_finger_line_xy": 0.009456092818836952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485925618821738,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1320200391974948,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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,
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+}
\ No newline at end of file
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+}
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index 0000000000000000000000000000000000000000..935a4ad12174d3ec3e3f243df386faad4155026c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/dataset/meta/episode.jsonl
@@ -0,0 +1,37 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2693,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2701,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2661,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2696,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2698,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2704,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2654,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2699,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2699,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2687,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2701,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2701,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2695,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2646,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2694,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2705,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2708,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2694,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2691,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2696,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2660,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2703,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2705,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2706,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2688,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2692,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2655,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2698,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2691,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2699,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2692,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84a0f7a638942aca6ae0a9603840766d16b92e51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,37 @@
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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..38bbea25d9f954bc1eb54fc4af5e37d9bad19fbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00035
+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: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00035
+  reproducibility:
+    enabled: true
+    layout_id: layout_00035
+    action_seed: 8795614797710026623
+    step_seeds:
+    - 3944254798520509588
+    - 3028392388710505277
+    - 408830198229115201
+    - 5506603594016192635
+    - 5255127595498083662
+    - 5473445184449098552
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2636
+      - 0.2636
+      'y':
+      - -0.1355
+      - -0.1355
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2588
+      - 0.2588
+      'y':
+      - 0.0719
+      - 0.0719
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2092
+      - 0.2092
+      'y':
+      - -0.3818
+      - -0.3818
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2774
+      - 0.2774
+      'y':
+      - 0.2928
+      - 0.2928
+      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
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  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: 0.4
+      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
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_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: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e097046152cd5438932b08b83d7294d645756e45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2853106524787358,
+              -0.13876629175245378,
+              1.165415129447454
+            ],
+            "current_z": 1.165415129447454,
+            "required_z": 0.8611066251647482,
+            "initial_z": 0.7611066251647483,
+            "lift_margin": 0.3043085042827057,
+            "gripper_z": 1.1565284853044877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28127658326266414,
+              -0.1432205752172111,
+              1.1565284853044877
+            ],
+            "object_minus_gripper": [
+              0.0040340692160716896,
+              0.004454283464757319,
+              0.008886644142966249
+            ],
+            "object_to_gripper_xy": 0.006009522079539082,
+            "object_to_gripper_z": 0.008886644142966249,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2853106524787358,
+              -0.16190997739642932,
+              1.165415129447454
+            ],
+            "finger_b": [
+              0.2748787394920459,
+              -0.13876629175245378,
+              1.165415129447454
+            ],
+            "finger_midpoint": [
+              0.28009469598539083,
+              -0.15033813457444156,
+              1.165415129447454
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052159564933449976,
+              0.011571842821987782,
+              0.0
+            ],
+            "finger_gap": 0.02538611813076252,
+            "fingertip_max_gap": 0.09216451542834334,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012693059065381283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165415129447454,
+            "object_top_z": 1.2157862729374573,
+            "finger_top_clearance": 0.05037114349000338,
+            "fingertip_min_top_clearance": 0.015111343047001013,
+            "object_projection_between_fingers": 0.8311366819755766,
+            "object_to_finger_line_xy": 0.009510430605642406,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858225771417167,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9996209803890568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2713396689070603,
+              -0.3781395268503098,
+              0.8515395895366726
+            ],
+            "target_position": [
+              0.26499765533934055,
+              -0.37863224368500203,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006361124583934068,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18314267430441541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395895366726,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572451795700835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546385476051212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15066697605567833,
+            "release_required_pad_clearance": 0.05273192738025606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.515860762380423,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25670211658865705,
+              0.13716546654156164,
+              0.8336421573450987
+            ],
+            "target_position": [
+              0.26954542838766393,
+              0.18266930508439777,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04728160297725753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16453727660743397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336421573450987,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673759333011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13374168252745564,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31905bb8817ba10409836954dccc2dbe52ed8bca579b5315f4a2147083a10e6f",
+    "visual_seed": 1461288033853689543,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63cf979b0f437e049b994ff000da7725d0a8829
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_10_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2930034142630455,
+              -0.14103077114801485,
+              1.1659751926410116
+            ],
+            "current_z": 1.1659751926410116,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.3048686846262453,
+            "gripper_z": 1.1568589540236418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2892997363591458,
+              -0.14518449440096076,
+              1.1568589540236418
+            ],
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+              0.0037036779038996936,
+              0.004153723252945912,
+              0.009116238617369765
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+            "object_to_gripper_xy": 0.005565127750366419,
+            "object_to_gripper_z": 0.009116238617369765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2930034142630455,
+              -0.1641314319538955,
+              1.1659751926410116
+            ],
+            "finger_b": [
+              0.2832329370579752,
+              -0.14103077114801485,
+              1.1659751926410116
+            ],
+            "finger_midpoint": [
+              0.28811817566051035,
+              -0.15258110155095517,
+              1.1659751926410116
+            ],
+            "object_minus_finger_midpoint": [
+              0.004885238602535147,
+              0.011550330402940318,
+              0.0
+            ],
+            "finger_gap": 0.025081920869087143,
+            "fingertip_max_gap": 0.09335413880478424,
+            "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": 1.1659751926410116,
+            "object_top_z": 1.2163826746730035,
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+            "object_projection_between_fingers": 0.8482565461134772,
+            "object_to_finger_line_xy": 0.008998691966375403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917706940239212,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.101241265409603,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2714201285417704,
+              -0.38596025913570575,
+              0.8515395821326418
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+            "target_position": [
+              0.26530504961398393,
+              -0.38595936851543106,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006115078992642892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18192286584415024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395821326418,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521628823684565,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658846478652034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15047088555692686,
+            "release_required_pad_clearance": 0.05329423239326017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6071381459097869,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2694772554013371,
+            -0.38773666911608373,
+            1.0433467687801778
+          ],
+          "object_origin_world": [
+            0.2694772554013371,
+            -0.38773666911608373,
+            1.0433467687801778
+          ],
+          "frame_world": [
+            0.26947582764788125,
+            -0.3877447949484516,
+            1.043226891183104
+          ],
+          "center_minus_frame": [
+            1.4277534558515548e-06,
+            8.125832367866792e-06,
+            0.00011987759707388079
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2606651555272812,
+              0.1316077457949324,
+              0.8345696667657481
+            ],
+            "target_position": [
+              0.2707530777289021,
+              0.17832104193235776,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779014762865622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691554812766513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8345696667657481,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674052363555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376231019644116,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a4c13e20b316bbf7a0a712fcb62e457b1d9e86f1527017a043b122aa25808e6",
+    "visual_seed": 7398283434957555396,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c1863ff8e0d98071676a208a4ff6adf7b266d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_11_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28451945482724095,
+              -0.14076920746461638,
+              1.1642569294855072
+            ],
+            "current_z": 1.1642569294855072,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3031504214707412,
+            "gripper_z": 1.1554320242176397,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28065541262372706,
+              -0.14488856487017457,
+              1.1554320242176397
+            ],
+            "object_minus_gripper": [
+              0.0038640422035138844,
+              0.004119357405558188,
+              0.0088249052678675
+            ],
+            "object_to_gripper_xy": 0.005648002087930167,
+            "object_to_gripper_z": 0.0088249052678675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28451945482724095,
+              -0.16403187304609795,
+              1.1642569294855072
+            ],
+            "finger_b": [
+              0.27490497708197453,
+              -0.14076920746461638,
+              1.1642569294855072
+            ],
+            "finger_midpoint": [
+              0.2797122159546077,
+              -0.15240054025535715,
+              1.1642569294855072
+            ],
+            "object_minus_finger_midpoint": [
+              0.004807238872633235,
+              0.011631332790740773,
+              0.0
+            ],
+            "finger_gap": 0.025171209590920944,
+            "fingertip_max_gap": 0.0937819835575254,
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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": 1.1642569294855072,
+            "object_top_z": 1.21469329696454,
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+            "fingertip_min_top_clearance": 0.015130910243709871,
+            "object_projection_between_fingers": 0.8541040536921705,
+            "object_to_finger_line_xy": 0.008885484017796352,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493909917787627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5640173094436753,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2634108613717079,
+              -0.38456449825570804,
+              0.851539564706711
+            ],
+            "target_position": [
+              0.257827506119253,
+              -0.38424202292003523,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005592660030542983,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18245883067569849,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539564706711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546645166448167,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776050579912202,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503139675963997,
+            "release_required_pad_clearance": 0.05388025289956101,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7701603344300265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26161365060475894,
+            -0.38337307838861573,
+            1.0434216868281128
+          ],
+          "object_origin_world": [
+            0.26161365060475894,
+            -0.38337307838861573,
+            1.0434216868281128
+          ],
+          "frame_world": [
+            0.2616122575513702,
+            -0.3833804916616224,
+            1.0433063333838846
+          ],
+          "center_minus_frame": [
+            1.393053388754062e-06,
+            7.413273006684484e-06,
+            0.00011535344422819449
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2540893145910657,
+              0.13381102410193188,
+              0.833945444653612
+            ],
+            "target_position": [
+              0.26699905224331516,
+              0.17910541402436747,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047098228041992644,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1648913861576123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833945444653612,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673625215305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342880817632806,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0de7c991425c4bef03683ffec4f255beffbb7519d01826a221ebe0de017bfa23",
+    "visual_seed": 1898649752481614374,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dcb0549f26b0856276b354a8b4cd1a4238bcc87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2895023403225041,
+              -0.13646489512387078,
+              1.1651655881121565
+            ],
+            "current_z": 1.1651655881121565,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30405919930668013,
+            "gripper_z": 1.1562762090667371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28561740152451365,
+              -0.14069948807779503,
+              1.1562762090667371
+            ],
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+              0.003884938797990456,
+              0.004234592953924254,
+              0.008889379045419421
+            ],
+            "object_to_gripper_xy": 0.005746697046961539,
+            "object_to_gripper_z": 0.008889379045419421,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2895023403225041,
+              -0.1596431124385931,
+              1.1651655881121565
+            ],
+            "finger_b": [
+              0.2795530488428144,
+              -0.13646489512387078,
+              1.1651655881121565
+            ],
+            "finger_midpoint": [
+              0.28452769458265925,
+              -0.14805400378123196,
+              1.1651655881121565
+            ],
+            "object_minus_finger_midpoint": [
+              0.004974645739844852,
+              0.01158910865736118,
+              0.0
+            ],
+            "finger_gap": 0.025223365335266434,
+            "fingertip_max_gap": 0.0932133518250309,
+            "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": 1.1651655881121565,
+            "object_top_z": 1.2155539695036346,
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+            "fingertip_min_top_clearance": 0.015116514417443416,
+            "object_projection_between_fingers": 0.8444112297440839,
+            "object_to_finger_line_xy": 0.009142588111402299,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049106675912515454,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0051837638924646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2644427754146951,
+              -0.38204834380644753,
+              0.8515395910138144
+            ],
+            "target_position": [
+              0.25880489688528846,
+              -0.38194012247197723,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005638917109656661,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411722551316123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395910138144,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580900979705817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772259453551466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512127969207131,
+            "release_required_pad_clearance": 0.05386129726775733,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.732033919977607,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26325602107588114,
+            -0.38393479850165335,
+            1.0433936465474285
+          ],
+          "object_origin_world": [
+            0.26325602107588114,
+            -0.38393479850165335,
+            1.0433936465474285
+          ],
+          "frame_world": [
+            0.2632545612852658,
+            -0.3839423697242334,
+            1.0432779780126844
+          ],
+          "center_minus_frame": [
+            1.4597906153324125e-06,
+            7.571222580049497e-06,
+            0.00011566853474409555
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24844462601777012,
+              0.13392474100485027,
+              0.8335775356185984
+            ],
+            "target_position": [
+              0.26262967784599506,
+              0.17915766781481246,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047404993019352124,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16336084548012725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335775356185984,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671297504911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13373167926764354,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cffa8a4d1b671e2457e15728e23c38aa02c5a9a7a2e1dbbd0ad6d38380374e8",
+    "visual_seed": 4095881253674771300,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ca1ecf154395bdd8007aa5705e69646418d7fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_13_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28890075312714925,
+              -0.14427445550178564,
+              1.1674396220566217
+            ],
+            "current_z": 1.1674396220566217,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30633323325114536,
+            "gripper_z": 1.1585265082152332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2850965061779737,
+              -0.14835081342605866,
+              1.1585265082152332
+            ],
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+              0.003804246949175527,
+              0.004076357924273022,
+              0.008913113841388487
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+            "object_to_gripper_xy": 0.005575750064080596,
+            "object_to_gripper_z": 0.008913113841388487,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28890075312714925,
+              -0.1675832092343066,
+              1.1674396220566217
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+            "finger_b": [
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+              -0.14427445550178564,
+              1.1674396220566217
+            ],
+            "finger_midpoint": [
+              0.28417039405189315,
+              -0.1559288323680461,
+              1.1674396220566217
+            ],
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+              0.0047303590752560964,
+              0.011654376866260474,
+              0.0
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+            "finger_gap": 0.025155579669066293,
+            "fingertip_max_gap": 0.09362593363318492,
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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": 1.2178119516886765,
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+            "object_to_finger_line_xy": 0.00876614860019503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931296681659246,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5630103033000817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2717455201237829,
+              -0.379925565710426,
+              0.8515395729036138
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+            "target_position": [
+              0.2660124500950392,
+              -0.37981627450660976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005734111659334048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822159876506747,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395729036138,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757812445389457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08890625715599763,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14940532081384447,
+            "release_required_pad_clearance": 0.05445312857799882,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9348407501083953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2727254012107094,
+            -0.38024471455358627,
+            1.04336479215044
+          ],
+          "object_origin_world": [
+            0.2727254012107094,
+            -0.38024471455358627,
+            1.04336479215044
+          ],
+          "frame_world": [
+            0.2727238755433029,
+            -0.38025249327501526,
+            1.043245584500045
+          ],
+          "center_minus_frame": [
+            1.5256674064656472e-06,
+            7.778721428985946e-06,
+            0.00011920765039508119
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25281897590518815,
+              0.13652865232444059,
+              0.8335902984284098
+            ],
+            "target_position": [
+              0.2659086538386501,
+              0.18197744077745476,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04729621591891464,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.166089403388418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335902984284098,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567765994145,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13631952518138107,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14d91e2ed8c2c8b54901cd6f1b212c9c46958c40e21d4c421e7707a620a6521b",
+    "visual_seed": 1242900394702457330,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d82bb57f1e3b2f41293f4cfd0d78aba99162bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_16_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": [
+              0.29425194774298746,
+              -0.14021185904025038,
+              1.1667575226516225
+            ],
+            "current_z": 1.1667575226516225,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30565107424150106,
+            "gripper_z": 1.1576355080518252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29036321900830475,
+              -0.14440818152258136,
+              1.1576355080518252
+            ],
+            "object_minus_gripper": [
+              0.0038887287346827115,
+              0.004196322482330983,
+              0.009122014599797224
+            ],
+            "object_to_gripper_xy": 0.00572113044316099,
+            "object_to_gripper_z": 0.009122014599797224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29425194774298746,
+              -0.1636235064389421,
+              1.1667575226516225
+            ],
+            "finger_b": [
+              0.2846057527963216,
+              -0.14021185904025038,
+              1.1667575226516225
+            ],
+            "finger_midpoint": [
+              0.28942885026965454,
+              -0.15191768273959624,
+              1.1667575226516225
+            ],
+            "object_minus_finger_midpoint": [
+              0.004823097473332927,
+              0.011705823699345863,
+              0.0
+            ],
+            "finger_gap": 0.025321025075414127,
+            "fingertip_max_gap": 0.09289545412778286,
+            "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": 1.1667575226516225,
+            "object_top_z": 1.2171078486402114,
+            "finger_top_clearance": 0.050350325988588907,
+            "fingertip_min_top_clearance": 0.015105097796576638,
+            "object_projection_between_fingers": 0.8548725706564194,
+            "object_to_finger_line_xy": 0.008918806176202524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894772706389143,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7186059772097333,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26813742122152745,
+              -0.3812520309366374,
+              0.8515396015776736
+            ],
+            "target_position": [
+              0.262126113588907,
+              -0.38141166914416574,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006013426960669271,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18260840741358716,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396015776736,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756987233211126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759798450482127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500732844456957,
+            "release_required_pad_clearance": 0.05379899225241064,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6071256000435197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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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": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.268842436806119,
+            -0.381681318413463,
+            1.0433959349686586
+          ],
+          "object_origin_world": [
+            0.268842436806119,
+            -0.381681318413463,
+            1.0433959349686586
+          ],
+          "frame_world": [
+            0.268840926634195,
+            -0.3816889682269078,
+            1.0432778184092526
+          ],
+          "center_minus_frame": [
+            1.5101719240129263e-06,
+            7.649813444809972e-06,
+            0.00011811655940596744
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2560671559141418,
+              0.13436519386846127,
+              0.8350857454125872
+            ],
+            "target_position": [
+              0.26965561324868803,
+              0.17868740005073525,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0463584310950747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1638745812769447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8350857454125872,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677234224162,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1345509878353119,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cbe459f0cdc36af0292f666892dc6c34321012d631a9ec4dd4b867e8ecc7615",
+    "visual_seed": 2807332548171000700,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e401b997828c9b87d8a6b821932ddc16878607ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_17_success.json
@@ -0,0 +1,2020 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28533791705836586,
+              -0.1423864500573839,
+              1.1655546189448929
+            ],
+            "current_z": 1.1655546189448929,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.304448051325482,
+            "gripper_z": 1.1568188455015613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28141948807961786,
+              -0.14654884670407814,
+              1.1568188455015613
+            ],
+            "object_minus_gripper": [
+              0.003918428978748001,
+              0.004162396646694239,
+              0.00873577344333154
+            ],
+            "object_to_gripper_xy": 0.005716610141150396,
+            "object_to_gripper_z": 0.00873577344333154,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28533791705836586,
+              -0.16584584859026522,
+              1.1655546189448929
+            ],
+            "finger_b": [
+              0.2758662259910738,
+              -0.1423864500573839,
+              1.1655546189448929
+            ],
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+              0.28060207152471983,
+              -0.15411614932382456,
+              1.1655546189448929
+            ],
+            "object_minus_finger_midpoint": [
+              0.0047358455336460326,
+              0.011729699266440657,
+              0.0
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+            "finger_gap": 0.02529933420465397,
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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": 1.1655546189448929,
+            "object_top_z": 1.2160121803069859,
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+            "object_projection_between_fingers": 0.8598358767743495,
+            "object_to_finger_line_xy": 0.00878284676310023,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494527219259082,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5783485749812587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "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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+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26759115489411833,
+              -0.3797058224346589,
+              0.8515396108660214
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+            "target_position": [
+              0.2618557843910443,
+              -0.37928193201697,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005751013640545487,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18378298154802147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396108660214,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517192900171324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728483352308199,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15240709692030954,
+            "release_required_pad_clearance": 0.053642416761540995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2947898926132315,
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+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005984462919375115,
+              "rod_tip_xy_max_step": 3.233908668592262e-05,
+              "rod_tip_xy_range": 0.0005984363593343959,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2662541437450732,
+            -0.37787083682371736,
+            1.0434505976307855
+          ],
+          "object_origin_world": [
+            0.2662541437450732,
+            -0.37787083682371736,
+            1.0434505976307855
+          ],
+          "frame_world": [
+            0.26625276649477636,
+            -0.3778781210435882,
+            1.0433346344170356
+          ],
+          "center_minus_frame": [
+            1.3772502968634193e-06,
+            7.284219870840047e-06,
+            0.00011596321374995888
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.255030343567366,
+              0.13015481077174504,
+              0.8336742699923929
+            ],
+            "target_position": [
+              0.2673690301749239,
+              0.1759367933231506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047415536626054675,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16444623430227887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336742699923929,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835679300829138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13376908356376288,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "818d798230e4c05c18746ce9c18c79be873712a5b7694df64b7e69ca3289505b",
+    "visual_seed": 8289852848566752618,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b83b426abec7bfcda07219f607987e72376ce5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2862243161585931,
+              -0.14014887114083935,
+              1.1654796816141149
+            ],
+            "current_z": 1.1654796816141149,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.3043731139947038,
+            "gripper_z": 1.1567822103903997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28212243771748907,
+              -0.14434174613216383,
+              1.1567822103903997
+            ],
+            "object_minus_gripper": [
+              0.004101878441104045,
+              0.00419287499132448,
+              0.008697471223715114
+            ],
+            "object_to_gripper_xy": 0.005865629330128901,
+            "object_to_gripper_z": 0.008697471223715114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2862243161585931,
+              -0.1637302407943273,
+              1.1654796816141149
+            ],
+            "finger_b": [
+              0.2766623962298881,
+              -0.14014887114083935,
+              1.1654796816141149
+            ],
+            "finger_midpoint": [
+              0.2814433561942406,
+              -0.15193955596758332,
+              1.1654796816141149
+            ],
+            "object_minus_finger_midpoint": [
+              0.004780959964352516,
+              0.011790684826743975,
+              0.0
+            ],
+            "finger_gap": 0.02544624348420428,
+            "fingertip_max_gap": 0.09330597716773006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01272312174210214,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654796816141149,
+            "object_top_z": 1.2158395907710737,
+            "finger_top_clearance": 0.05035990915695887,
+            "fingertip_min_top_clearance": 0.015107972747087695,
+            "object_projection_between_fingers": 0.8587973496833791,
+            "object_to_finger_line_xy": 0.00886115738756547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049152988583865034,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2463794906296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2658139367424531,
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+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005988732310017909,
+              "rod_tip_xy_max_step": 3.258351351751134e-05,
+              "rod_tip_xy_range": 0.0005988653610399567,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2646118889669777,
+            -0.3838153754092756,
+            1.0434022634693043
+          ],
+          "object_origin_world": [
+            0.2646118889669777,
+            -0.3838153754092756,
+            1.0434022634693043
+          ],
+          "frame_world": [
+            0.264610467044882,
+            -0.38382272055911665,
+            1.043285588114343
+          ],
+          "center_minus_frame": [
+            1.4219220956790402e-06,
+            7.345149841020415e-06,
+            0.00011667535496129311
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.256788372737732,
+              0.13559973795890037,
+              0.8333993562209934
+            ],
+            "target_position": [
+              0.26859358626045887,
+              0.18193092843101005,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04781152870260561,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16881002569900325,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333993562209934,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567204208864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13739697011336308,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40ce4702c5bd8369a89a458f9327d10093d57546a896cbc1b885a0ab4917ba63",
+    "visual_seed": 6766661390992886405,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d93ef1c5bc34284eecf6a5a36694d463621c43f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2939282409926117,
+              -0.14155526664140267,
+              1.1667874300928802
+            ],
+            "current_z": 1.1667874300928802,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3056808624734694,
+            "gripper_z": 1.1577786981336835,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29006464612121563,
+              -0.14567546152850236,
+              1.1577786981336835
+            ],
+            "object_minus_gripper": [
+              0.003863594871396092,
+              0.004120194887099693,
+              0.009008731959196714
+            ],
+            "object_to_gripper_xy": 0.005648306935530384,
+            "object_to_gripper_z": 0.009008731959196714,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2939282409926117,
+              -0.16498981429844,
+              1.1667874300928802
+            ],
+            "finger_b": [
+              0.2844632140065123,
+              -0.14155526664140267,
+              1.1667874300928802
+            ],
+            "finger_midpoint": [
+              0.289195727499562,
+              -0.15327254046992134,
+              1.1667874300928802
+            ],
+            "object_minus_finger_midpoint": [
+              0.004732513493049706,
+              0.01171727382851867,
+              0.0
+            ],
+            "finger_gap": 0.025273795910736172,
+            "fingertip_max_gap": 0.09347353681687368,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012636897955368086,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1667874300928802,
+            "object_top_z": 1.2171599427606747,
+            "finger_top_clearance": 0.05037251266779452,
+            "fingertip_min_top_clearance": 0.015111753800338357,
+            "object_projection_between_fingers": 0.8597500339805855,
+            "object_to_finger_line_xy": 0.008776229212433758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923676840843684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.290792185565006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "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": [],
+              "allowed": [
+                {
+                  "a": "/World/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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+                "target_xy_drift": 2.7285031932908816e-08,
+                "depth": 0.01937400150672841,
+                "bottom_clearance": 0.08006651289426958,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005991878069599128,
+              "rod_tip_xy_max_step": 3.262181602560551e-05,
+              "rod_tip_xy_range": 0.0005991816311708611,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2730804820465593,
+            -0.38499041159410174,
+            1.0433317837395502
+          ],
+          "object_origin_world": [
+            0.2730804820465593,
+            -0.38499041159410174,
+            1.0433317837395502
+          ],
+          "frame_world": [
+            0.2730790734165072,
+            -0.3849986829526723,
+            1.043211308515051
+          ],
+          "center_minus_frame": [
+            1.4086300521021222e-06,
+            8.271358570566267e-06,
+            0.00012047522449920578
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24991510406078266,
+              0.1352667977601356,
+              0.8334740254607119
+            ],
+            "target_position": [
+              0.262902615014276,
+              0.18072949058380194,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047281411564653535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16610278857412203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334740254607119,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676286167596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13622487812945358,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40c64c7454885531d39b0b1e09f14097650efad45d41a5b2d508d2a19785615e",
+    "visual_seed": 2503902171968959722,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e49e03e5e72aee32edef6fca3f9023310dd320f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.29108554265074027,
+              -0.13800619590465904,
+              1.1659983897969464
+            ],
+            "current_z": 1.1659983897969464,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.3048918817821801,
+            "gripper_z": 1.1570173741024374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28716845612753256,
+              -0.14219995059574458,
+              1.1570173741024374
+            ],
+            "object_minus_gripper": [
+              0.0039170865232077134,
+              0.004193754691085544,
+              0.008981015694508931
+            ],
+            "object_to_gripper_xy": 0.005738566479470068,
+            "object_to_gripper_z": 0.008981015694508931,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29108554265074027,
+              -0.16132730515061755,
+              1.1659983897969464
+            ],
+            "finger_b": [
+              0.2813251831098578,
+              -0.13800619590465904,
+              1.1659983897969464
+            ],
+            "finger_midpoint": [
+              0.2862053628802991,
+              -0.14966675052763828,
+              1.1659983897969464
+            ],
+            "object_minus_finger_midpoint": [
+              0.004880179770441195,
+              0.011660554622979241,
+              0.0
+            ],
+            "finger_gap": 0.025281193698661195,
+            "fingertip_max_gap": 0.0931049192383415,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012640596849330573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659983897969464,
+            "object_top_z": 1.2163504868275736,
+            "finger_top_clearance": 0.05035209703062726,
+            "fingertip_min_top_clearance": 0.015105629109188211,
+            "object_projection_between_fingers": 0.8509484557969746,
+            "object_to_finger_line_xy": 0.009003625930242658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905245961917075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9414342004745146,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "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,
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+                  0.2698363687481185,
+                  -0.3774554056871087,
+                  1.0015084933646332
+                ],
+                "rod_tip_xy_dist": 0.0009592036375756365,
+                "target_xy_drift": 6.836383090891148e-08,
+                "depth": 0.019622211477948848,
+                "bottom_clearance": 0.07981840086798175,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005986702723459079,
+              "rod_tip_xy_max_step": 3.253835743914657e-05,
+              "rod_tip_xy_range": 0.000598661527719958,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2694110488922455,
+            -0.3788891481909314,
+            1.0433215795049522
+          ],
+          "object_origin_world": [
+            0.2694110488922455,
+            -0.3788891481909314,
+            1.0433215795049522
+          ],
+          "frame_world": [
+            0.2694359173813954,
+            -0.37888556688493247,
+            1.0436258277305583
+          ],
+          "center_minus_frame": [
+            -2.4868489149898476e-05,
+            -3.5813059989231455e-06,
+            -0.00030424822560615183
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2531053918264403,
+              0.13641092109967393,
+              0.8347447565049902
+            ],
+            "target_position": [
+              0.26594550714598003,
+              0.18124444138028,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046635963613616854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16510982335069488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8347447565049902,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676333740551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1350636446341033,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "103391f19e2e9a13b69cf71f61783397529511b5abee68643bfe3156ae6b4394",
+    "visual_seed": 2434281325164112925,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e4c96b22732cd37ff80df377adbeb0a18010e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2866927893617023,
+              -0.1441855139047794,
+              1.1661200095205837
+            ],
+            "current_z": 1.1661200095205837,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3050135611104626,
+            "gripper_z": 1.1570776653876829,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2829805580286776,
+              -0.14831403005459332,
+              1.1570776653876829
+            ],
+            "object_minus_gripper": [
+              0.0037122313330246737,
+              0.00412851614981391,
+              0.009042344132900837
+            ],
+            "object_to_gripper_xy": 0.005552054310718188,
+            "object_to_gripper_z": 0.009042344132900837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2866927893617023,
+              -0.16721516399561986,
+              1.1661200095205837
+            ],
+            "finger_b": [
+              0.2768913850858479,
+              -0.1441855139047794,
+              1.1661200095205837
+            ],
+            "finger_midpoint": [
+              0.2817920872237751,
+              -0.15570033895019963,
+              1.1661200095205837
+            ],
+            "object_minus_finger_midpoint": [
+              0.004900702137927204,
+              0.01151482504542023,
+              0.0
+            ],
+            "finger_gap": 0.025028629788410015,
+            "fingertip_max_gap": 0.09340793240991732,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012514314894205007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661200095205837,
+            "object_top_z": 1.2165386994154685,
+            "finger_top_clearance": 0.05041868989488485,
+            "fingertip_min_top_clearance": 0.015125606968465488,
+            "object_projection_between_fingers": 0.8466434052243974,
+            "object_to_finger_line_xy": 0.009018588423738632,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920396620495866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.226177008115271,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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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+                ],
+                "target_mouth_xy": [
+                  0.27065187903357596,
+                  -0.379274076355813
+                ],
+                "gripper_position": [
+                  0.2722929033854484,
+                  -0.3787749004615199,
+                  1.0015474489444791
+                ],
+                "rod_tip_xy_dist": 0.0017228331076195769,
+                "target_xy_drift": 2.9549114836868167e-08,
+                "depth": 0.019193619824599772,
+                "bottom_clearance": 0.08024693562000895,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005982287290362188,
+              "rod_tip_xy_max_step": 3.243742451601051e-05,
+              "rod_tip_xy_range": 0.0005982193084014142,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2719338759386849,
+            -0.38005061206373764,
+            1.0435806544035637
+          ],
+          "object_origin_world": [
+            0.2719338759386849,
+            -0.38005061206373764,
+            1.0435806544035637
+          ],
+          "frame_world": [
+            0.2719324330179136,
+            -0.3800582483790509,
+            1.0434613569357598
+          ],
+          "center_minus_frame": [
+            1.4429207713106962e-06,
+            7.63631531325304e-06,
+            0.00011929746780392492
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2576136988837239,
+              0.13266812376339476,
+              0.8341667451322934
+            ],
+            "target_position": [
+              0.2680484798767982,
+              0.17898094847947804,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04747380738424168,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16851175490735362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8341667451322934,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673132212546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374769529461481,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a510269199bc96400d6c298ceeb9f9912ffefc448e03aeaf90c18836a912da5a",
+    "visual_seed": 2978752794659544251,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9937ddc27835517498b64b858c140ded0448b575
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_27_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28471032509503463,
+              -0.13757113075441826,
+              1.1652638776131785
+            ],
+            "current_z": 1.1652638776131785,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30415736959841244,
+            "gripper_z": 1.1564142685645211,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.280947962224004,
+              -0.14180072815957212,
+              1.1564142685645211
+            ],
+            "object_minus_gripper": [
+              0.0037623628710306556,
+              0.0042295974051538565,
+              0.008849609048657392
+            ],
+            "object_to_gripper_xy": 0.0056608187202024296,
+            "object_to_gripper_z": 0.008849609048657392,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28471032509503463,
+              -0.16064104381642114,
+              1.1652638776131785
+            ],
+            "finger_b": [
+              0.27479340754920945,
+              -0.13757113075441826,
+              1.1652638776131785
+            ],
+            "finger_midpoint": [
+              0.279751866322122,
+              -0.1491060872854197,
+              1.1652638776131785
+            ],
+            "object_minus_finger_midpoint": [
+              0.004958458772912622,
+              0.011534956531001422,
+              0.0
+            ],
+            "finger_gap": 0.025111076088034662,
+            "fingertip_max_gap": 0.09358811844615353,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01255553804401733,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652638776131785,
+            "object_top_z": 1.2156438384867272,
+            "finger_top_clearance": 0.05037996087354868,
+            "fingertip_min_top_clearance": 0.015113988262064603,
+            "object_projection_between_fingers": 0.844036577587047,
+            "object_to_finger_line_xy": 0.009110817267375147,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929405922307677,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3475414249038296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "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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+                "rod_tip_xy_dist": 0.002788128349431534,
+                "target_xy_drift": 9.705679004649118e-08,
+                "depth": 0.01942471305283533,
+                "bottom_clearance": 0.08001585310947212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011484546983807076,
+                  0.0025349256122542685
+                ],
+                "rod_tip_xy": [
+                  0.2644783013569803,
+                  -0.3780150794060728
+                ],
+                "target_mouth_xy": [
+                  0.2633298466585996,
+                  -0.3805500050183271
+                ],
+                "gripper_position": [
+                  0.2644701965743551,
+                  -0.37801728608326035,
+                  1.0015824775713411
+                ],
+                "rod_tip_xy_dist": 0.002782947368150429,
+                "target_xy_drift": 6.61294492216224e-08,
+                "depth": 0.01955113568470357,
+                "bottom_clearance": 0.07988950357236435,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006002771721292653,
+              "rod_tip_xy_max_step": 3.255208880046879e-05,
+              "rod_tip_xy_range": 0.0006002727968052419,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26403152251382156,
+            -0.37921285120633835,
+            1.0434322593706271
+          ],
+          "object_origin_world": [
+            0.26403152251382156,
+            -0.37921285120633835,
+            1.0434322593706271
+          ],
+          "frame_world": [
+            0.2640300930855041,
+            -0.37922004473329257,
+            1.0433167931193528
+          ],
+          "center_minus_frame": [
+            1.4294283174343114e-06,
+            7.193526954218932e-06,
+            0.00011546625127434318
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2560624781433186,
+              0.13072444923689733,
+              0.8334762556634546
+            ],
+            "target_position": [
+              0.2694618123168683,
+              0.1758124066427213,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047036858518866374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1640844103321367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334762556634546,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670418210763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13409543764560375,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68055bbd5f11ae1f4cef78d48d52eb06f6c46751cbcdbedd2085fcd5e0d54f8b",
+    "visual_seed": 8664453610672109464,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..088de4b81adb351796b3f2577893eb8fac390b01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_28_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.2907097660285391,
+              -0.1416062036405089,
+              1.166049883763621
+            ],
+            "current_z": 1.166049883763621,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30494343535349966,
+            "gripper_z": 1.1569921192994261,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2870302332982637,
+              -0.14563879749212055,
+              1.1569921192994261
+            ],
+            "object_minus_gripper": [
+              0.003679532730275381,
+              0.004032593851611643,
+              0.009057764464194928
+            ],
+            "object_to_gripper_xy": 0.005459008544161094,
+            "object_to_gripper_z": 0.009057764464194928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2907097660285391,
+              -0.16477163185717472,
+              1.166049883763621
+            ],
+            "finger_b": [
+              0.2812300778460417,
+              -0.1416062036405089,
+              1.166049883763621
+            ],
+            "finger_midpoint": [
+              0.2859699219372904,
+              -0.1531889177488418,
+              1.166049883763621
+            ],
+            "object_minus_finger_midpoint": [
+              0.004739844091248668,
+              0.011582714108332892,
+              0.0
+            ],
+            "finger_gap": 0.025030013034332946,
+            "fingertip_max_gap": 0.09369416120596016,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01251500651716645,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166049883763621,
+            "object_top_z": 1.2163861179274345,
+            "finger_top_clearance": 0.05033623416381339,
+            "fingertip_min_top_clearance": 0.015100870249144015,
+            "object_projection_between_fingers": 0.8565614280141121,
+            "object_to_finger_line_xy": 0.00877350865965586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049347080602980084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6485301724790533,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "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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+                "depth": 0.0192454531256393,
+                "bottom_clearance": 0.08019506992461245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006866738402335204,
+                  -0.00044867602905140913
+                ],
+                "rod_tip_xy": [
+                  0.26215212236420143,
+                  -0.3777784457548007
+                ],
+                "target_mouth_xy": [
+                  0.26283879620443495,
+                  -0.3773297697257493
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+                "gripper_position": [
+                  0.2621441469374688,
+                  -0.3777802835924014,
+                  1.0017635678895505
+                ],
+                "rod_tip_xy_dist": 0.000820262849278444,
+                "target_xy_drift": 9.357906049281107e-08,
+                "depth": 0.019370606188769512,
+                "bottom_clearance": 0.08006992945724911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006946322426831797,
+                  -0.000450547141170321
+                ],
+                "rod_tip_xy": [
+                  0.2621441469374686,
+                  -0.37778028359240146
+                ],
+                "target_mouth_xy": [
+                  0.2628387791801518,
+                  -0.37732973645123113
+                ],
+                "gripper_position": [
+                  0.2621546432334131,
+                  -0.37785903651062325,
+                  1.0012494084672068
+                ],
+                "rod_tip_xy_dist": 0.0008279533072533819,
+                "target_xy_drift": 6.614155332309003e-08,
+                "depth": 0.019496335500605366,
+                "bottom_clearance": 0.07994429848295892,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006001125472567603,
+              "rod_tip_xy_max_step": 3.24505652098323e-05,
+              "rod_tip_xy_range": 0.0006001034204216928,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26169260604884104,
+            -0.3791705031318389,
+            1.0434804714788446
+          ],
+          "object_origin_world": [
+            0.26169260604884104,
+            -0.3791705031318389,
+            1.0434804714788446
+          ],
+          "frame_world": [
+            0.26169124856268683,
+            -0.3791775565678174,
+            1.0433659031158036
+          ],
+          "center_minus_frame": [
+            1.35748615420761e-06,
+            7.0534359784546474e-06,
+            0.00011456836304102325
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25433815752584776,
+              0.13308010030646494,
+              0.8331187485485763
+            ],
+            "target_position": [
+              0.26780091365634595,
+              0.17905511995070617,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04790561797866335,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16650947049785678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331187485485763,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674209111594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13703391639935603,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35b10905ed65427aba1f91f542edbcb2197fdde0f169efc17cb3dbd8a5cf440a",
+    "visual_seed": 6329763097599243618,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24086c3f9f60d3989c49ad5aa7d90da08dadc31d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2939857088275467,
+              -0.13649851249282094,
+              1.1660528308646114
+            ],
+            "current_z": 1.1660528308646114,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.3049464420591348,
+            "gripper_z": 1.157210444767027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28997325764638704,
+              -0.14066177407127725,
+              1.157210444767027
+            ],
+            "object_minus_gripper": [
+              0.004012451181159671,
+              0.004163261578456312,
+              0.008842386097584365
+            ],
+            "object_to_gripper_xy": 0.005782085389532066,
+            "object_to_gripper_z": 0.008842386097584365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2939857088275467,
+              -0.16002515213173635,
+              1.1660528308646114
+            ],
+            "finger_b": [
+              0.28440193587082796,
+              -0.13649851249282094,
+              1.1660528308646114
+            ],
+            "finger_midpoint": [
+              0.28919382234918733,
+              -0.14826183231227863,
+              1.1660528308646114
+            ],
+            "object_minus_finger_midpoint": [
+              0.004791886478359375,
+              0.01176331981945769,
+              0.0
+            ],
+            "finger_gap": 0.02540376894843203,
+            "fingertip_max_gap": 0.09332517267526244,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012701884474216002,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660528308646114,
+            "object_top_z": 1.2163190019186474,
+            "finger_top_clearance": 0.05026617105403597,
+            "fingertip_min_top_clearance": 0.015079851316210757,
+            "object_projection_between_fingers": 0.857676464082087,
+            "object_to_finger_line_xy": 0.00887561106352376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916258633763122,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.322295201446456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "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",
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+                "depth": 0.0191104293949792,
+                "bottom_clearance": 0.0803301883674904,
+                "inserted": true,
+                "centered": true
+              },
+              {
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+                "rod_tip_xy_delta": [
+                  0.0011261152146622155,
+                  0.002220074919907722
+                ],
+                "rod_tip_xy": [
+                  0.26595048222646467,
+                  -0.3839405269318714
+                ],
+                "target_mouth_xy": [
+                  0.26482436701180245,
+                  -0.38616060185177914
+                ],
+                "gripper_position": [
+                  0.2659424520307911,
+                  -0.3839431574909806,
+                  1.0018912994345306
+                ],
+                "rod_tip_xy_dist": 0.0024893509448643447,
+                "target_xy_drift": 3.207466336587335e-08,
+                "depth": 0.01923944612676387,
+                "bottom_clearance": 0.08020109701245526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011181002066155132,
+                  0.002217474813735687
+                ],
+                "rod_tip_xy": [
+                  0.2659424520307911,
+                  -0.3839431574909806
+                ],
+                "target_mouth_xy": [
+                  0.2648243518241756,
+                  -0.3861606323047163
+                ],
+                "gripper_position": [
+                  0.26595654205975366,
+                  -0.38402443632855765,
+                  1.0013750344658177
+                ],
+                "rod_tip_xy_dist": 0.002483413501933533,
+                "target_xy_drift": 1.4849237019338249e-08,
+                "depth": 0.019368531851087556,
+                "bottom_clearance": 0.0800720201124071,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005964866818439923,
+              "rod_tip_xy_max_step": 3.239848078526777e-05,
+              "rod_tip_xy_range": 0.0005964801040448966,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26553998466824835,
+            -0.38539150627509094,
+            1.0433447126139042
+          ],
+          "object_origin_world": [
+            0.26553998466824835,
+            -0.38539150627509094,
+            1.0433447126139042
+          ],
+          "frame_world": [
+            0.26556467154192104,
+            -0.38538796055407515,
+            1.0436487625409567
+          ],
+          "center_minus_frame": [
+            -2.468687367268574e-05,
+            -3.5457210157963104e-06,
+            -0.0003040499270525743
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2570927921738977,
+              0.13694403801078897,
+              0.8332983953290196
+            ],
+            "target_position": [
+              0.27065265504130853,
+              0.18307828864407055,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04808574593866075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16599043758314855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332983953290196,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671065356886,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1360248668593443,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3be121a6d55158d600fe99b03ba1f1e8848731840a25ebed9e68f2b9ae421f19",
+    "visual_seed": 3004061799916065151,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8ab5275b141ded97469fb8fa4be2edf1c6e048
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_34_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2899761173771126,
+              -0.1409911002974614,
+              1.1669925102843886
+            ],
+            "current_z": 1.1669925102843886,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30588612147891203,
+            "gripper_z": 1.1581225928823997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28597344060229557,
+              -0.14515957804323557,
+              1.1581225928823997
+            ],
+            "object_minus_gripper": [
+              0.004002676774817027,
+              0.004168477745774168,
+              0.008869917401988836
+            ],
+            "object_to_gripper_xy": 0.005779068097944004,
+            "object_to_gripper_z": 0.008869917401988836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2899761173771126,
+              -0.16443640518746483,
+              1.1669925102843886
+            ],
+            "finger_b": [
+              0.2803537652287166,
+              -0.1409911002974614,
+              1.1669925102843886
+            ],
+            "finger_midpoint": [
+              0.2851649413029146,
+              -0.15271375274246313,
+              1.1669925102843886
+            ],
+            "object_minus_finger_midpoint": [
+              0.004811176074198009,
+              0.01172265244500173,
+              0.0
+            ],
+            "finger_gap": 0.02534308549196329,
+            "fingertip_max_gap": 0.09347869832014852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01267154274598166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1669925102843886,
+            "object_top_z": 1.2173601951430224,
+            "finger_top_clearance": 0.050367684858633854,
+            "fingertip_min_top_clearance": 0.015110305457590123,
+            "object_projection_between_fingers": 0.8558404174148222,
+            "object_to_finger_line_xy": 0.008901796111198249,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923934916007426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3193857870522367,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "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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+              },
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+                "rod_tip_xy": [
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+                  -0.38503440196641314
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+                  1.001673117328934
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+                "target_xy_drift": 7.565681049399634e-08,
+                "depth": 0.019457478540728768,
+                "bottom_clearance": 0.07998317277117939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  0.0005961566194538914
+                ],
+                "rod_tip_xy": [
+                  0.2654850297924889,
+                  -0.3850369369147455
+                ],
+                "target_mouth_xy": [
+                  0.26729640041459973,
+                  -0.3856330935341994
+                ],
+                "gripper_position": [
+                  0.265476917574579,
+                  -0.3850396359671699,
+                  1.0015435139079651
+                ],
+                "rod_tip_xy_dist": 0.0019069520826609434,
+                "target_xy_drift": 7.244725477483368e-08,
+                "depth": 0.019586697827180255,
+                "bottom_clearance": 0.07985379507291201,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.00059841618494482,
+              "rod_tip_xy_max_step": 3.2457784394704976e-05,
+              "rod_tip_xy_range": 0.0005984067963108623,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26499194415794036,
+            -0.38645277444984527,
+            1.0432854806979583
+          ],
+          "object_origin_world": [
+            0.26499194415794036,
+            -0.38645277444984527,
+            1.0432854806979583
+          ],
+          "frame_world": [
+            0.2650167745967606,
+            -0.386449583344856,
+            1.0435914488956903
+          ],
+          "center_minus_frame": [
+            -2.4830438820233613e-05,
+            -3.191104989253013e-06,
+            -0.00030596819773198725
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2511140349507074,
+              0.1350568366786907,
+              0.8328724675605704
+            ],
+            "target_position": [
+              0.26410062719543764,
+              0.18131569427852468,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048047200590384094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16750288258518742,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328724675605704,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567313272937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13774418812430655,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1dcab82a8a7566610b42d7cde4511569bd37b7430dce12b954955a20e2cc7109",
+    "visual_seed": 1772202784203740465,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41939cfa426bfaaa2ed9ad9b3088c817f3e5eb98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28985168808856254,
+              -0.1411477381698698,
+              1.164302331551542
+            ],
+            "current_z": 1.164302331551542,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.303195823536776,
+            "gripper_z": 1.1554381393008355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2859094398396004,
+              -0.14526364034624661,
+              1.1554381393008355
+            ],
+            "object_minus_gripper": [
+              0.003942248248962166,
+              0.004115902176376807,
+              0.008864192250706449
+            ],
+            "object_to_gripper_xy": 0.0056992957443835635,
+            "object_to_gripper_z": 0.008864192250706449,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28985168808856254,
+              -0.1645540268542064,
+              1.164302331551542
+            ],
+            "finger_b": [
+              0.2803172920159441,
+              -0.1411477381698698,
+              1.164302331551542
+            ],
+            "finger_midpoint": [
+              0.28508449005225334,
+              -0.1528508825120381,
+              1.164302331551542
+            ],
+            "object_minus_finger_midpoint": [
+              0.004767198036309206,
+              0.011703144342168292,
+              0.0
+            ],
+            "finger_gap": 0.02527368311987917,
+            "fingertip_max_gap": 0.09344983442241941,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012636841559939575,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164302331551542,
+            "object_top_z": 1.2147374898121797,
+            "finger_top_clearance": 0.050435158260637714,
+            "fingertip_min_top_clearance": 0.01513054747819128,
+            "object_projection_between_fingers": 0.8576854492036566,
+            "object_to_finger_line_xy": 0.008829928975843723,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922491721120971,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3114965103692855,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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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+              },
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+                "depth": 0.01949884113759659,
+                "bottom_clearance": 0.07994176975040712,
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+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  0.002176266152932982
+                ],
+                "rod_tip_xy": [
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+                  -0.3833874074137812
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+                "target_mouth_xy": [
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+                  1.0015025001708104
+                ],
+                "rod_tip_xy_dist": 0.00270743590718576,
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+                "depth": 0.019628009675278224,
+                "bottom_clearance": 0.07981256569683881,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.000596632620009369,
+              "rod_tip_xy_max_step": 3.227999034916275e-05,
+              "rod_tip_xy_range": 0.0005966288418684867,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2663672165564724,
+            -0.3847493243706454,
+            1.0433358546810778
+          ],
+          "object_origin_world": [
+            0.2663672165564724,
+            -0.3847493243706454,
+            1.0433358546810778
+          ],
+          "frame_world": [
+            0.26639183062135374,
+            -0.38474565000311767,
+            1.0436397259619226
+          ],
+          "center_minus_frame": [
+            -2.4614064881356423e-05,
+            -3.6743675277395305e-06,
+            -0.00030387128084474746
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2539897001962554,
+              0.13092437724753797,
+              0.8338777410364223
+            ],
+            "target_position": [
+              0.2647392381289947,
+              0.1769107566130939,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04722604845760685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16718317730957727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338777410364223,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835680652190839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13574137834028285,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81e9f950b6ea424d1f3c15a4b7db996881c7f4a4337ea4a25ecf4b7ef15db2bc",
+    "visual_seed": 4828571684768456016,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc3eb9f2889a8c942d43341d0df32f952e1e1d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2844142479203153,
+              -0.14183704128476698,
+              1.167107821285077
+            ],
+            "current_z": 1.167107821285077,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30600143247960077,
+            "gripper_z": 1.1583336286300776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2806290858099859,
+              -0.14594333085600775,
+              1.1583336286300776
+            ],
+            "object_minus_gripper": [
+              0.0037851621103293653,
+              0.004106289571240762,
+              0.008774192654999347
+            ],
+            "object_to_gripper_xy": 0.005584717203615031,
+            "object_to_gripper_z": 0.008774192654999347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2844142479203153,
+              -0.16516857848435001,
+              1.167107821285077
+            ],
+            "finger_b": [
+              0.2749912678945181,
+              -0.14183704128476698,
+              1.167107821285077
+            ],
+            "finger_midpoint": [
+              0.2797027579074167,
+              -0.1535028098845585,
+              1.167107821285077
+            ],
+            "object_minus_finger_midpoint": [
+              0.004711490012898556,
+              0.011665768599791515,
+              0.0
+            ],
+            "finger_gap": 0.025162535259033402,
+            "fingertip_max_gap": 0.09421720990025803,
+            "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": 1.167107821285077,
+            "object_top_z": 1.2175323921887002,
+            "finger_top_clearance": 0.05042457090362329,
+            "fingertip_min_top_clearance": 0.015127371271086987,
+            "object_projection_between_fingers": 0.8597613416808229,
+            "object_to_finger_line_xy": 0.008737299590027859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960860495012902,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0137608387512365,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              },
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+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
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+                  0.001529287003662172
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+                "rod_tip_xy": [
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+                ],
+                "target_mouth_xy": [
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+                  -0.3821956247129972,
+                  1.0017318207055699
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+                "rod_tip_xy_dist": 0.0015358712554437387,
+                "target_xy_drift": 3.01997949245249e-08,
+                "depth": 0.019397842311672964,
+                "bottom_clearance": 0.08004271975495025,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005987236029438681,
+              "rod_tip_xy_max_step": 3.255377867932673e-05,
+              "rod_tip_xy_range": 0.0005987178541747524,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26869396481344265,
+            -0.38360519518486863,
+            1.043579025886086
+          ],
+          "object_origin_world": [
+            0.26869396481344265,
+            -0.38360519518486863,
+            1.043579025886086
+          ],
+          "frame_world": [
+            0.26869254467268044,
+            -0.38361307403810113,
+            1.0434605995769797
+          ],
+          "center_minus_frame": [
+            1.4201407622094209e-06,
+            7.87885323250137e-06,
+            0.00011842630910630092
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2565342541947313,
+              0.13074065973093957,
+              0.8333279501285326
+            ],
+            "target_position": [
+              0.2694025035028266,
+              0.17617233575854835,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04721894775334259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16642564866013915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333279501285326,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674282712308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1368781535809883,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b42f887f510b3987c9a0c97f4c9a242d064e18492be638ef44e90875d487c92",
+    "visual_seed": 3309288888111928876,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2adacae9c661aa089d58a42b7daaf5da08bbbc2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28921999447357527,
+              -0.14089658621101592,
+              1.1650004288168891
+            ],
+            "current_z": 1.1650004288168891,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30389398040676807,
+            "gripper_z": 1.1559731379476998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2853877099579658,
+              -0.14511355544867993,
+              1.1559731379476998
+            ],
+            "object_minus_gripper": [
+              0.003832284515609463,
+              0.0042169692376640144,
+              0.009027290869189297
+            ],
+            "object_to_gripper_xy": 0.00569817814393203,
+            "object_to_gripper_z": 0.009027290869189297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28921999447357527,
+              -0.16402834246585418,
+              1.1650004288168891
+            ],
+            "finger_b": [
+              0.2792953121992042,
+              -0.14089658621101592,
+              1.1650004288168891
+            ],
+            "finger_midpoint": [
+              0.28425765333638975,
+              -0.15246246433843505,
+              1.1650004288168891
+            ],
+            "object_minus_finger_midpoint": [
+              0.004962341137185522,
+              0.011565878127419132,
+              0.0
+            ],
+            "finger_gap": 0.025170964734798386,
+            "fingertip_max_gap": 0.09293383284005888,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012585482367399193,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650004288168891,
+            "object_top_z": 1.2154054062652162,
+            "finger_top_clearance": 0.05040497744832706,
+            "fingertip_min_top_clearance": 0.01512149323449815,
+            "object_projection_between_fingers": 0.8445346882067117,
+            "object_to_finger_line_xy": 0.009120640932768107,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896691642002944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.709295099335733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+                "centered": true
+              },
+              {
+                "frame": 413,
+                "rod_tip_xy_delta": [
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+                  0.0028038745924862107
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+                  0.26694052955059894,
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+                "target_xy_drift": 3.819947460867823e-09,
+                "depth": 0.019641247291893982,
+                "bottom_clearance": 0.07979937558399308,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005972496997917131,
+              "rod_tip_xy_max_step": 3.2372276701610356e-05,
+              "rod_tip_xy_range": 0.0005972407662970099,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26779920517763645,
+            -0.38439526053016804,
+            1.0432991621373044
+          ],
+          "object_origin_world": [
+            0.26779920517763645,
+            -0.38439526053016804,
+            1.0432991621373044
+          ],
+          "frame_world": [
+            0.26782396167682015,
+            -0.38439160126629496,
+            1.0436036562301783
+          ],
+          "center_minus_frame": [
+            -2.4756499183709035e-05,
+            -3.6592638730792437e-06,
+            -0.00030449409287380824
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2556169461318797,
+              0.13514793259091143,
+              0.8334697837517837
+            ],
+            "target_position": [
+              0.26804064593213395,
+              0.18123720939225185,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773436658003764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16704434081654243,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334697837517837,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672780403829,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13692236129545557,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1aca36c878105013201e787e97eda73a33656a17664dddb32e9874b629f591a9",
+    "visual_seed": 1385413314679191688,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..edbfd95f527a2d099a8f22705e051a540948a30d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_42_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29196583406402904,
+              -0.13664036770699942,
+              1.1647907375529205
+            ],
+            "current_z": 1.1647907375529205,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3036842891427993,
+            "gripper_z": 1.1559613911521114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2878878345157262,
+              -0.140829268924484,
+              1.1559613911521114
+            ],
+            "object_minus_gripper": [
+              0.004077999548302846,
+              0.004188901217484581,
+              0.008829346400809124
+            ],
+            "object_to_gripper_xy": 0.005846107570495263,
+            "object_to_gripper_z": 0.008829346400809124,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29196583406402904,
+              -0.16023346915121614,
+              1.1647907375529205
+            ],
+            "finger_b": [
+              0.28237752591116333,
+              -0.13664036770699942,
+              1.1647907375529205
+            ],
+            "finger_midpoint": [
+              0.2871716799875962,
+              -0.14843691842910778,
+              1.1647907375529205
+            ],
+            "object_minus_finger_midpoint": [
+              0.004794154076432855,
+              0.011796550722108362,
+              0.0
+            ],
+            "finger_gap": 0.025467039266302872,
+            "fingertip_max_gap": 0.09296615756435908,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012733519633151436,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647907375529205,
+            "object_top_z": 1.2150833153731648,
+            "finger_top_clearance": 0.05029257782024432,
+            "fingertip_min_top_clearance": 0.015087773346073296,
+            "object_projection_between_fingers": 0.858248700032899,
+            "object_to_finger_line_xy": 0.008882772927133875,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898307878217954,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.934677057444377,
+            "object_max_tilt_deg": 15.0,
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+                "centered": true
+              },
+              {
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+                "rod_tip_xy": [
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+                  1.0016506820338182
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+                "target_xy_drift": 2.9027326495701727e-08,
+                "depth": 0.019479628924621184,
+                "bottom_clearance": 0.0799609303593024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007520577735628531,
+                  -0.0006763693192837761
+                ],
+                "rod_tip_xy": [
+                  0.2661057918654745,
+                  -0.3847465801229505
+                ],
+                "target_mouth_xy": [
+                  0.26685784963903736,
+                  -0.3840702108036667
+                ],
+                "gripper_position": [
+                  0.2660978707427567,
+                  -0.38474914153488826,
+                  1.0015212990502482
+                ],
+                "rod_tip_xy_dist": 0.0010114674245099119,
+                "target_xy_drift": 2.8633875593036076e-08,
+                "depth": 0.01960908606658529,
+                "bottom_clearance": 0.07983145799009483,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005969235245256231,
+              "rod_tip_xy_max_step": 3.238555856495182e-05,
+              "rod_tip_xy_range": 0.0005969173245103724,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26564697857465136,
+            -0.38613069078849305,
+            1.0433244408372722
+          ],
+          "object_origin_world": [
+            0.26564697857465136,
+            -0.38613069078849305,
+            1.0433244408372722
+          ],
+          "frame_world": [
+            0.2656716981305999,
+            -0.38612724882813193,
+            1.0436286326244295
+          ],
+          "center_minus_frame": [
+            -2.4719555948515826e-05,
+            -3.4419603611168803e-06,
+            -0.0003041917871573485
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2602005074910074,
+              0.1307018667629064,
+              0.8339553454203361
+            ],
+            "target_position": [
+              0.2704466822729099,
+              0.1779983695662407,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048393628455480626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16819473061764295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339553454203361,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567548289906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13659467367921,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a831c85ad3fbd46c1d828f54c7d2d17adb604babd31fec3e9bcee8e707735346",
+    "visual_seed": 1234380028809435077,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbc10eca0efe6e8ef7d32345634401524ab5cdcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.2874089571992693,
+              -0.14032596771490016,
+              1.1671653349340763
+            ],
+            "current_z": 1.1671653349340763,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3060588269193104,
+            "gripper_z": 1.1582736667757887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2836551032371063,
+              -0.14442856610207733,
+              1.1582736667757887
+            ],
+            "object_minus_gripper": [
+              0.0037538539621629896,
+              0.004102598387177164,
+              0.008891668158287569
+            ],
+            "object_to_gripper_xy": 0.005560821260903415,
+            "object_to_gripper_z": 0.008891668158287569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2874089571992693,
+              -0.16353250211351494,
+              1.1671653349340763
+            ],
+            "finger_b": [
+              0.27782711559252604,
+              -0.14032596771490016,
+              1.1671653349340763
+            ],
+            "finger_midpoint": [
+              0.28261803639589766,
+              -0.15192923491420757,
+              1.1671653349340763
+            ],
+            "object_minus_finger_midpoint": [
+              0.004790920803371623,
+              0.011603267199307404,
+              0.0
+            ],
+            "finger_gap": 0.025106870122952544,
+            "fingertip_max_gap": 0.0937902294876454,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012553435061476284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1671653349340763,
+            "object_top_z": 1.2175718320423086,
+            "finger_top_clearance": 0.05040649710823231,
+            "fingertip_min_top_clearance": 0.01512194913246969,
+            "object_projection_between_fingers": 0.8543492172581882,
+            "object_to_finger_line_xy": 0.008856593265509577,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+                "target_xy_drift": 7.462564965103769e-09,
+                "depth": 0.019454849981024425,
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+                "inserted": true,
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+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
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+                  -0.0006797470671261463
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+                "rod_tip_xy": [
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+                  -0.38532139921899045
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+                "target_mouth_xy": [
+                  0.27073368388877855,
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+                "gripper_position": [
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+                  -0.38532399033162235,
+                  1.0015435609270649
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+                "rod_tip_xy_dist": 0.0021233999207892554,
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+                "depth": 0.019585273491170896,
+                "bottom_clearance": 0.0798553015359903,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005976309409809918,
+              "rod_tip_xy_max_step": 3.2510120435660846e-05,
+              "rod_tip_xy_range": 0.0005976270134878717,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2681979117070469,
+            -0.38650666272412676,
+            1.0433994928390335
+          ],
+          "object_origin_world": [
+            0.2681979117070469,
+            -0.38650666272412676,
+            1.0433994928390335
+          ],
+          "frame_world": [
+            0.2681964869262761,
+            -0.38651463593694446,
+            1.0432801909815952
+          ],
+          "center_minus_frame": [
+            1.4247807707534754e-06,
+            7.973212817702358e-06,
+            0.00011930185743835864
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2542270312552517,
+              0.13226125785529372,
+              0.8340514891855566
+            ],
+            "target_position": [
+              0.26673450506265406,
+              0.17752443233765308,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046959470453395914,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674464265642421,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340514891855566,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674192716295,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13781184507281866,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c72ec0bb02525fceba368910067a6116d227022867f11a82aa4d1fc2782513d",
+    "visual_seed": 6448782350220292312,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..407587e148ced55175a52478762a140f8ec8d872
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_45_success.json
@@ -0,0 +1,2020 @@
+{
+  "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": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2842255959903155,
+              -0.14505218400046124,
+              1.1686399045506493
+            ],
+            "current_z": 1.1686399045506493,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3075333965358834,
+            "gripper_z": 1.159680529888365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28050100617366813,
+              -0.1493051095128139,
+              1.159680529888365
+            ],
+            "object_minus_gripper": [
+              0.0037245898166473612,
+              0.004252925512352651,
+              0.008959374662284247
+            ],
+            "object_to_gripper_xy": 0.005653312720511159,
+            "object_to_gripper_z": 0.008959374662284247,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2842255959903155,
+              -0.16796118853404648,
+              1.1686399045506493
+            ],
+            "finger_b": [
+              0.27404648223594874,
+              -0.14505218400046124,
+              1.1686399045506493
+            ],
+            "finger_midpoint": [
+              0.2791360391131321,
+              -0.15650668626725386,
+              1.1686399045506493
+            ],
+            "object_minus_finger_midpoint": [
+              0.005089556877183377,
+              0.011454502266792621,
+              0.0
+            ],
+            "finger_gap": 0.025068642674547968,
+            "fingertip_max_gap": 0.0932191753162381,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012534321337273984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1686399045506493,
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+              },
+              {
+                "frame": 407,
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+              }
+            ],
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+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005989375250908561,
+              "rod_tip_xy_max_step": 3.242982219380257e-05,
+              "rod_tip_xy_range": 0.0005989316516855134,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26804914006908115,
+            -0.38344565645744105,
+            1.043576227403869
+          ],
+          "object_origin_world": [
+            0.26804914006908115,
+            -0.38344565645744105,
+            1.043576227403869
+          ],
+          "frame_world": [
+            0.2680477204443441,
+            -0.383453682242772,
+            1.0434585277745927
+          ],
+          "center_minus_frame": [
+            1.4196247370423798e-06,
+            8.02578533093401e-06,
+            0.00011769962927621336
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.251352206683139,
+              0.1310772404018229,
+              0.8332300070932444
+            ],
+            "target_position": [
+              0.2639289355153034,
+              0.17704379635348516,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047656042367942096,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16672172620481163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332300070932444,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356761496729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13715205890672902,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4429b85bcf9cae2e30d8bd088d91d77ceafdb2a75cdb45480847b2265e0fb7f",
+    "visual_seed": 4848187556767734477,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb14586a9c75704fc954c06a7d8c8e0ae07d2fe4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_48_success.json
@@ -0,0 +1,2014 @@
+{
+  "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": [
+              0.28757825419244065,
+              -0.14128877715424745,
+              1.1666597662547615
+            ],
+            "current_z": 1.1666597662547615,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3055533178446401,
+            "gripper_z": 1.1575919769360816,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2839107307401996,
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+              }
+            ],
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+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
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+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005981499175877137,
+              "rod_tip_xy_max_step": 3.261619089943742e-05,
+              "rod_tip_xy_range": 0.000598141971035474,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26540770370388467,
+            -0.3830542127271488,
+            1.0433373511953847
+          ],
+          "object_origin_world": [
+            0.26540770370388467,
+            -0.3830542127271488,
+            1.0433373511953847
+          ],
+          "frame_world": [
+            0.26543250613074953,
+            -0.3830508134091598,
+            1.0436418241486736
+          ],
+          "center_minus_frame": [
+            -2.4802426864867222e-05,
+            -3.399317988983519e-06,
+            -0.00030447295328883683
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2550674628081878,
+              0.13574377911112467,
+              0.8336257141029111
+            ],
+            "target_position": [
+              0.2684004010329569,
+              0.18067913167061012,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04687166682923453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16613053892284954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336257141029111,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673483107279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13565203111018198,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef123572f0bc00befa32fbd8f02faf486533753a1a55af0bf8aa44d7917b6db6",
+    "visual_seed": 2503066752668866735,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abb066bfe786cb86edf2045e5ec820e3d455596
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_50_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+                "shoulder_pan_joint",
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+                },
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+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "ridgebase_ur5e",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "glass_rod",
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+    "task_island_state_digest": "5b5486dd152e83e3dddc4e1a995883d3467a90e0ae260e621c90275533720f13",
+    "visual_seed": 2816940234727611188,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a1e3939434e2167e8c60253c247ac03d433682
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_51_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 51,
+  "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": [
+              0.28651844500891244,
+              -0.14562441236360843,
+              1.166847707994855
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+            "current_z": 1.166847707994855,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30574125958473364,
+            "gripper_z": 1.158058809022382,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.14975446972640571,
+              1.158058809022382
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+              0.0038606421907063093,
+              0.004130057362797285,
+              0.008788898972472925
+            ],
+            "object_to_gripper_xy": 0.005653488475680982,
+            "object_to_gripper_z": 0.008788898972472925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28651844500891244,
+              -0.16904223384536213,
+              1.166847707994855
+            ],
+            "finger_b": [
+              0.27709583386914033,
+              -0.14562441236360843,
+              1.166847707994855
+            ],
+            "finger_midpoint": [
+              0.28180713943902636,
+              -0.15733332310448528,
+              1.166847707994855
+            ],
+            "object_minus_finger_midpoint": [
+              0.004711305569886082,
+              0.011708910740876849,
+              0.0
+            ],
+            "finger_gap": 0.025242423886042368,
+            "fingertip_max_gap": 0.09383213034768337,
+            "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": 1.166847707994855,
+            "object_top_z": 1.217280735652961,
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+            "fingertip_min_top_clearance": 0.015129908297431827,
+            "object_projection_between_fingers": 0.8606585175971538,
+            "object_to_finger_line_xy": 0.008741514941644653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049416065173841686,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.572867287260467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "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": [
+                {
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2674000622030828,
+              -0.3791723763402029,
+              0.8515395945136457
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+            "target_position": [
+              0.2614263929314545,
+              -0.3788589647316836,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00598188527164734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828225604650088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395945136457,
+            "min_z": 0.5774145980897916,
+            "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": 0.1509154382358067,
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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": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035118123105105044,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00801008939743042,
+            "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": 0.021206450654229683,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00801008939743042,
+            "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": 0.008010118678277984,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.43512043356895447,
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+            "button_final": [
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+              -0.4351167678833007,
+              0.7687987685203552
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+            "min_active_finger_to_button": 0.14540834086225857,
+            "closest_active_finger": [
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014390945434570257,
+              0.03451722860336304
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+            "min_contact_pad_to_button": 0.021206450654229683,
+            "closest_contact_pad": [
+              0.11710496991872786,
+              -0.4374624075642638,
+              0.7898750946669437
+            ],
+            "closest_contact_pad_button": [
+              0.11710496991872786,
+              -0.4351167678833007,
+              0.7687987685203552
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002345639680963074,
+              0.021076326146588498
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [],
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+              "failed_keys": []
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a98dde0d998ccdf8a6a5c428153df4a238110319f64a9d148160bec74d17f6b8",
+    "visual_seed": 7264077787648353943,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e663fbf00a6725b8cdcf398ba8861bc5d2fd9962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_52_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+            "object_position": [
+              0.286923723524491,
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+              1.165131036258677
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+            "gripper_position": [
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+              -0.14010476010898903,
+              1.1564239550218443
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+              0.004062868557195731,
+              0.004201900574868078,
+              0.008707081236832837
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+            "object_to_gripper_z": 0.008707081236832837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              -0.1593588018177577,
+              1.165131036258677
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+            "finger_b": [
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+              -0.13590285953412096,
+              1.165131036258677
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+              0.2820713991038288,
+              -0.14763083067593932,
+              1.165131036258677
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+              0.011727971141818366,
+              0.0
+            ],
+            "finger_gap": 0.02538427539928446,
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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": 0.008967428832397812,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049235262398343874,
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+            "object_tilt_deg": 2.3340784100467435,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3774382016548662,
+              0.8515396524736972
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+              -0.37721660926200945,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18301574471411225,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
+            "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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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515133797767966,
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+            "ee_contact_ok": true,
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.021081790693761926,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008005976676940918,
+            "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": 0.008006003002714843,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.05985319614410406,
+              0.034400224685668945
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+            "min_contact_pad_to_button": 0.021081790693761926,
+            "closest_contact_pad": [
+              0.11309275776147838,
+              -0.43347567319869995,
+              0.7898846719346067
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+            "closest_contact_pad_button": [
+              0.11309275776147838,
+              -0.43347567319869995,
+              0.7688028812408447
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081790693761926
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a91d3d248dfe2133e78a63d7c6f5bfc77f3b36b49e35d61425be5e9ba8b867d8",
+    "visual_seed": 1437826825191593322,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebc1ad4f73f51fa2c0000d14a8c84a49ce8c52b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_55_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+              -0.1400490708629689,
+              1.1663604875628288
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+            "lift_margin": 0.30525397954806277,
+            "gripper_z": 1.157302146951093,
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+              0.2866256862198692,
+              -0.14430537498916812,
+              1.157302146951093
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+              0.003780377110306099,
+              0.004256304126199234,
+              0.009058340611735938
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+            "object_to_gripper_z": 0.009058340611735938,
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+            "finger_a": [
+              0.2904060633301753,
+              -0.16309691151303493,
+              1.1663604875628288
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+            "finger_b": [
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+              -0.1400490708629689,
+              1.1663604875628288
+            ],
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+              0.28538458463288,
+              -0.1515729911880019,
+              1.1663604875628288
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+              0.011523920325033021,
+              0.0
+            ],
+            "finger_gap": 0.025140882081987472,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.2167794783571615,
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+            "object_to_finger_line_xy": 0.009206856025619155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489908590001827,
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+            "object_tilt_deg": 1.7217234678255797,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2702471755333071,
+              -0.37725375564672037,
+              0.8515395804700001
+            ],
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+              0.2642973040762137,
+              -0.3772067633237021,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005950057027823982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18203288584099842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395804700001,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522137816592424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553063570346221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15062699706827803,
+            "release_required_pad_clearance": 0.05276531785173111,
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+            "object_tilt_deg": 0.5801327337483074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007831275463104248,
+            "max_z_decrease": 0.007831275463104248,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035117567729592014,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007831275463104248,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021074351376047185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007831275463104248,
+            "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": 0.007831297129060206,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.433468222618103,
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+            "closest_active_finger_button": [
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+              -0.4334661066532135,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.0621035099029541,
+              0.034412682056427
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+            "min_contact_pad_to_button": 0.021074351376047185,
+            "closest_contact_pad": [
+              0.11997910588979718,
+              -0.4334649443626404,
+              0.7900519338307286
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+            "closest_contact_pad_button": [
+              0.11997910588979718,
+              -0.4334649443626404,
+              0.7689775824546814
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021074351376047185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d717a85a5dc518397fdb40947c9051e1b57fb7bcfe0fe9d806cd9936328d274d",
+    "visual_seed": 7515045258933865659,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de47f5c99d78987f0c35e8170ba50734535cd2b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "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",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              -0.14358715634557692,
+              1.1690311394035042
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+            "lift_margin": 0.3079246909933828,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1479034858035843,
+              1.1600976485793275
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+              0.00431632945800739,
+              0.008933490824176715
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+            "object_to_gripper_z": 0.008933490824176715,
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+              -0.16659050381620816,
+              1.1690311394035042
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+              -0.14358715634557692,
+              1.1690311394035042
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+              0.28027976647907094,
+              -0.15508883008089253,
+              1.1690311394035042
+            ],
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+              0.011501673735315604,
+              0.0
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+            "fingertip_min_top_clearance": 0.015119773389767222,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886106406736497,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.519877280485526,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.38562755370126967,
+              0.8515395776575961
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+            "target_position": [
+              0.25791628742900496,
+              -0.38654025985976087,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007136076030296179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183312775812128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395776575961,
+            "min_z": 0.5774145980897916,
+            "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,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351263728566464,
+            "contact_distance_threshold": 0.08,
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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": 0.02100058918459069,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008081495761871338,
+            "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": 0.008081512008225575,
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+            "button_start": [
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+            "button_final": [
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+              -0.4427858889102935,
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+            "min_active_finger_to_button": 0.14725666113223715,
+            "closest_active_finger": [
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+              -0.5060155391693115,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844482064247126,
+              -0.06321591138839727,
+              0.034499287605285645
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+            "min_contact_pad_to_button": 0.02100058918459069,
+            "closest_contact_pad": [
+              0.11361970007419582,
+              -0.4427858889102935,
+              0.789727951340505
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+            "closest_contact_pad_button": [
+              0.11361970007419582,
+              -0.4427858889102935,
+              0.7687273621559143
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02100058918459069
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bab5b9d6c398f785e5285d01d2ddf9f1c3baf0e6338b42a6ca73cdcf085d106",
+    "visual_seed": 238989016461615464,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e99121e10b63aef4ff32548613bdee48860f9651
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_59_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28497575511295264,
+              -0.1425432052432295,
+              1.1685362239709436
+            ],
+            "current_z": 1.1685362239709436,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30742965635153274,
+            "gripper_z": 1.1596688198327358,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28118221913584596,
+              -0.14673542127826997,
+              1.1596688198327358
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+              0.003793535977106688,
+              0.004192216035040469,
+              0.008867404138207746
+            ],
+            "object_to_gripper_xy": 0.00565381203207652,
+            "object_to_gripper_z": 0.008867404138207746,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28497575511295264,
+              -0.16565514025110026,
+              1.1685362239709436
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+              -0.1425432052432295,
+              1.1685362239709436
+            ],
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+              0.28004602647843435,
+              -0.1540991727471649,
+              1.1685362239709436
+            ],
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+              0.011555967503935394,
+              0.0
+            ],
+            "finger_gap": 0.02512708573328788,
+            "fingertip_max_gap": 0.09369379764185418,
+            "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": 1.2189462936002218,
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+            "fingertip_min_top_clearance": 0.015123020888783489,
+            "object_projection_between_fingers": 0.8460350819831289,
+            "object_to_finger_line_xy": 0.009068745099753911,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934689882092709,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4485615034932233,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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"
+                }
+              ],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2731360746960666,
+              -0.38324898020244336,
+              0.8515395622718782
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+            "target_position": [
+              0.26692906095982416,
+              -0.38360302901299537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006217103029720163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18397248759168017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395622718782,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589196647054917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887935175181301,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15089192335631724,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8189371939713324,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008147478103637695,
+            "max_z_decrease": 0.008147478103637695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009266389867656,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008147478103637695,
+            "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": 0.02098255610366217,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008147478103637695,
+            "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": 0.008147564863369568,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.4398425221443176,
+              0.768661379814148
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+            "min_active_finger_to_button": 0.14739457884468044,
+            "closest_active_finger": [
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+              -0.4254888892173767,
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+              -0.4398649036884308,
+              0.7766712307929993
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425749510526657,
+              0.014376014471054077,
+              0.03450906276702881
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+            "min_contact_pad_to_button": 0.02098255610366217,
+            "closest_contact_pad": [
+              0.12265950441360474,
+              -0.44175822136539916,
+              0.7895563016167697
+            ],
+            "closest_contact_pad_button": [
+              0.12265950441360474,
+              -0.4398425221443176,
+              0.768661379814148
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001915699221081535,
+              0.020894921802621758
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "153b2eb0cbbf9566afbd3898965da8b90701d0be5292802e9c7c47acfd91141f",
+    "visual_seed": 1558295529760948104,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1217481107eeb323de9915c3863573f3228e117
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2898191733490301,
+              -0.1359136491564546,
+              1.1667314403418119
+            ],
+            "current_z": 1.1667314403418119,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.305624872722401,
+            "gripper_z": 1.1577759682639668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28611735229268753,
+              -0.14012923134980504,
+              1.1577759682639668
+            ],
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+              0.0037018210563425913,
+              0.004215582193350442,
+              0.008955472077845084
+            ],
+            "object_to_gripper_xy": 0.005610223913719906,
+            "object_to_gripper_z": 0.008955472077845084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2898191733490301,
+              -0.15886326943605247,
+              1.1667314403418119
+            ],
+            "finger_b": [
+              0.27977738600644364,
+              -0.1359136491564546,
+              1.1667314403418119
+            ],
+            "finger_midpoint": [
+              0.28479827967773685,
+              -0.14738845929625355,
+              1.1667314403418119
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050208936712932695,
+              0.011474810139798952,
+              0.0
+            ],
+            "finger_gap": 0.025050400476069445,
+            "fingertip_max_gap": 0.09339713521939677,
+            "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": 1.1667314403418119,
+            "object_top_z": 1.2171279563643225,
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+            "fingertip_min_top_clearance": 0.015118954806753182,
+            "object_projection_between_fingers": 0.8393085781822365,
+            "object_to_finger_line_xy": 0.009199661564731653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919856760969839,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.129963728253794,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "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": [],
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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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26541407223022084,
+              -0.38408346273329974,
+              0.8515395703925888
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+            "target_position": [
+              0.25953373132278446,
+              -0.384100685690261,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005880366129580393,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18344432277903347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395703925888,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542639353533855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640785886989276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516272286893315,
+            "release_required_pad_clearance": 0.05320392943494638,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.430369665192801,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142164293403305,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084416389465332,
+            "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": 0.021232692955876698,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008084416389465332,
+            "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": 0.008084435980301598,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4403621554374695,
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+            "button_final": [
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+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.44034436345100403,
+              0.7687244415283203
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+            "min_active_finger_to_button": 0.14457808372979986,
+            "closest_active_finger": [
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+              0.8107544779777527
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+            "closest_active_finger_button": [
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+              -0.44035929441452026,
+              0.7762870788574219
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949573785066602,
+              0.01599249243736267,
+              0.03446739912033081
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+            "min_contact_pad_to_button": 0.021232692955876698,
+            "closest_contact_pad": [
+              0.11523411422967908,
+              -0.44344210450884947,
+              0.7897299467709246
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+            "closest_contact_pad_button": [
+              0.11523411422967908,
+              -0.44034436345100403,
+              0.7687244415283203
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003097741057845438,
+              0.02100550524260425
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f11d2d2f4d6b7db5fb9f6a994e1849424f8617d94f69d61118f2f92951fe5ed1",
+    "visual_seed": 2381860372018510367,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cec29d27417cbf37540d41174f3d0638097b758
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_61_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28536598366779115,
+              -0.1402441981912885,
+              1.164822696867493
+            ],
+            "current_z": 1.164822696867493,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3037161888527271,
+            "gripper_z": 1.1559248823545045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2816630003338393,
+              -0.14437327018426854,
+              1.1559248823545045
+            ],
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+              0.003702983333951859,
+              0.0041290719929800435,
+              0.008897814512988544
+            ],
+            "object_to_gripper_xy": 0.0055462889480027465,
+            "object_to_gripper_z": 0.008897814512988544,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28536598366779115,
+              -0.16334077021062268,
+              1.164822696867493
+            ],
+            "finger_b": [
+              0.27566626859034704,
+              -0.1402441981912885,
+              1.164822696867493
+            ],
+            "finger_midpoint": [
+              0.28051612612906907,
+              -0.1517924842009556,
+              1.164822696867493
+            ],
+            "object_minus_finger_midpoint": [
+              0.00484985753872208,
+              0.011548286009667091,
+              0.0
+            ],
+            "finger_gap": 0.02505067088179251,
+            "fingertip_max_gap": 0.0937509923640226,
+            "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": 1.164822696867493,
+            "object_top_z": 1.215286734805395,
+            "finger_top_clearance": 0.050464037937901995,
+            "fingertip_min_top_clearance": 0.015139211381370565,
+            "object_projection_between_fingers": 0.8500732135724706,
+            "object_to_finger_line_xy": 0.008943080563005603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493754961820113,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4383400927992405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2682581558167768,
+              -0.3811128997726232,
+              0.8515395618390381
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+            "target_position": [
+              0.26286946898055935,
+              -0.38084489661568366,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005395347209490127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182772090490244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395618390381,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573129468662618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08813473144309304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14999647510303518,
+            "release_required_pad_clearance": 0.05406736572154652,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 3.147419017810244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008174419403076172,
+            "max_z_decrease": 0.008174419403076172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047121883612795,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008174419403076172,
+            "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": 0.02114111532873882,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008174419403076172,
+            "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": 0.008174492863319985,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.437106341123581,
+              0.7768088579177856
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+            "button_final": [
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+              -0.437106341123581,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+              -0.4370819032192231,
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+            "button_min_z_position": [
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+              -0.4370819032192231,
+              0.7686344385147095
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+            "min_active_finger_to_button": 0.14514791128421572,
+            "closest_active_finger": [
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+              -0.42536550760269165,
+              0.8107070326805115
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+            "closest_active_finger_button": [
+              0.11857146024703977,
+              -0.4371028244495392,
+              0.776151180267334
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048503339290616,
+              0.011737316846847534,
+              0.03455585241317749
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+            "min_contact_pad_to_button": 0.02114111532873882,
+            "closest_contact_pad": [
+              0.11859396845102307,
+              -0.4400185277599857,
+              0.7895706032458542
+            ],
+            "closest_contact_pad_button": [
+              0.11859396845102307,
+              -0.4370819032192231,
+              0.7686344385147095
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029366245407626,
+              0.02093616473114468
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_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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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e0ccffcb5ab5316e2cc38bfc3d04da7176ca731eaf8987c6b7bd62dfe34838a",
+    "visual_seed": 421527659201505421,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d2875d5c028d5bfb3bcc762f7d2afef30e28fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_64_success.json
@@ -0,0 +1,2020 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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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": [
+              0.285466469406537,
+              -0.1362965630507377,
+              1.1671583752297834
+            ],
+            "current_z": 1.1671583752297834,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3060518672150174,
+            "gripper_z": 1.1584022933143083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2815053489115512,
+              -0.1406062381173752,
+              1.1584022933143083
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+              0.003961120494985815,
+              0.004309675066637486,
+              0.008756081915475056
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+            "object_to_gripper_xy": 0.005853526693865288,
+            "object_to_gripper_z": 0.008756081915475056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.285466469406537,
+              -0.15955756494576956,
+              1.1671583752297834
+            ],
+            "finger_b": [
+              0.2754919051172888,
+              -0.1362965630507377,
+              1.1671583752297834
+            ],
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+              0.2804791872619129,
+              -0.14792706399825362,
+              1.1671583752297834
+            ],
+            "object_minus_finger_midpoint": [
+              0.004987282144624128,
+              0.011630500947515915,
+              0.0
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+            "finger_gap": 0.02530940817010586,
+            "fingertip_max_gap": 0.09332406667591928,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2175957707159393,
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+            "fingertip_min_top_clearance": 0.015131218645846732,
+            "object_projection_between_fingers": 0.8446812495240931,
+            "object_to_finger_line_xy": 0.009167277135637152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916203333795964,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0880842925722227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27017958691055527,
+              -0.3870591087026465,
+              0.8515395849656
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+              0.2655771109190669,
+              -0.38644331752051747,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004643488347375801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18242380347484147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395849656,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756999225966941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742058438059518,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14979363877757643,
+            "release_required_pad_clearance": 0.05371029219029759,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.4299741693015933,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.00807732343673706,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508190850870286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807732343673706,
+            "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": 0.02102738604862627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00807732343673706,
+            "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": 0.008077339418248244,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4427025020122528,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06538155674934387,
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+            "min_contact_pad_to_button": 0.02102738604862627,
+            "closest_contact_pad": [
+              0.12127964198589322,
+              -0.4436026852300417,
+              0.7897390565339248
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+            "closest_contact_pad_button": [
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+              -0.442688912153244,
+              0.7687315344810486
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0009137730767976859,
+              0.02100752205287626
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
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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": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80b4af372aaceac0ad604923ae8cc9b5d40926644003d444f988f1d304c28dd6",
+    "visual_seed": 4391629121022440054,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d736bc1c2cd93921a62f1bc86a15e7defdfb90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28764638978469403,
+              -0.14110236684767274,
+              1.1687799693649625
+            ],
+            "current_z": 1.1687799693649625,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30767352095484124,
+            "gripper_z": 1.1598521756587223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28368580289758016,
+              -0.14549203213865564,
+              1.1598521756587223
+            ],
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+              0.0039605868871138705,
+              0.0043896652909828915,
+              0.008927793706240195
+            ],
+            "object_to_gripper_xy": 0.005912310027158442,
+            "object_to_gripper_z": 0.008927793706240195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28764638978469403,
+              -0.1642116088051803,
+              1.1687799693649625
+            ],
+            "finger_b": [
+              0.27733392503555826,
+              -0.14110236684767274,
+              1.1687799693649625
+            ],
+            "finger_midpoint": [
+              0.2824901574101262,
+              -0.1526569878264265,
+              1.1687799693649625
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051562323745678595,
+              0.01155462097875376,
+              0.0
+            ],
+            "finger_gap": 0.025305809472387863,
+            "fingertip_max_gap": 0.09261767186043415,
+            "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": 1.1687799693649625,
+            "object_top_z": 1.2191533862205324,
+            "finger_top_clearance": 0.05037341685556984,
+            "fingertip_min_top_clearance": 0.015112025056670952,
+            "object_projection_between_fingers": 0.8339325617818801,
+            "object_to_finger_line_xy": 0.009417333333125673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880883593021708,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4399984456631545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "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": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2654970543925083,
+              -0.3813053802349956,
+              0.8515396092111174
+            ],
+            "target_position": [
+              0.2592403314214623,
+              -0.3816344783197985,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062653721266845595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184441686589547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396092111174,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570113522554356,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633672909224298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15194520736873987,
+            "release_required_pad_clearance": 0.05316836454612149,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3608260110851325,
+            "object_max_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_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008065640926361084,
+            "max_z_decrease": 0.008065640926361084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512803471300187,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008065640926361084,
+            "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": 0.021162997676852275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008065640926361084,
+            "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": 0.008065653401682261,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11494025588035583,
+              -0.4378959238529206,
+              0.7768088579177856
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+            "button_final": [
+              0.11494025588035583,
+              -0.4378959238529206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
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+              -0.43913006064323057,
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+            "closest_button": [
+              0.11493580788373946,
+              -0.4378824532032013,
+              0.7687432169914246
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+            "closest_ee_minus_button": [
+              0.001029691852469164,
+              -0.0012476074400292747,
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+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f73d946e4515c54491437e0b1fbcfca5653054ec24a1ce66fdd0af193c7da62",
+    "visual_seed": 3028511312775168444,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f211aa5b3267dc593a49353e2f3a8dc16d7e1577
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_69_success.json
@@ -0,0 +1,2008 @@
+{
+  "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": {
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+            "active_arm": null,
+            "object_position": [
+              0.29020379613748004,
+              -0.1410492440089606,
+              1.167453530321751
+            ],
+            "current_z": 1.167453530321751,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3063471415162746,
+            "gripper_z": 1.1583341975886443,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28667514151520074,
+              -0.1451710176860707,
+              1.1583341975886443
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+              0.0035286546222793036,
+              0.004121773677110113,
+              0.009119332733106722
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+            "object_to_gripper_xy": 0.005425902845485802,
+            "object_to_gripper_z": 0.009119332733106722,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29020379613748004,
+              -0.1638469772895443,
+              1.167453530321751
+            ],
+            "finger_b": [
+              0.28026623102026005,
+              -0.1410492440089606,
+              1.167453530321751
+            ],
+            "finger_midpoint": [
+              0.28523501357887004,
+              -0.15244811064925246,
+              1.167453530321751
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049687825586099965,
+              0.011398866640291855,
+              0.0
+            ],
+            "finger_gap": 0.02486949623920078,
+            "fingertip_max_gap": 0.09354760406513843,
+            "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": 1.167453530321751,
+            "object_top_z": 1.2178692171328556,
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+            "fingertip_min_top_clearance": 0.015124706043331392,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01243474811960039,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927380203256922,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2945953701919892,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26406742751523277,
+              -0.38428836802940247,
+              0.8515395567545481
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+            "target_position": [
+              0.2578951940070208,
+              -0.384564370691226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006178401407259648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18092382760280912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395567545481,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582865939888642,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694170115399859,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14811177392611152,
+            "release_required_pad_clearance": 0.053470850576999296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9547752576514503,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00813513994216919,
+            "max_z_decrease": 0.00813513994216919,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504558276998046,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813513994216919,
+            "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": 0.021125786308684266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00813513994216919,
+            "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": 0.008135197631412114,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4408258199691772,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+              -0.4424246979872577,
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+            "closest_button": [
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+            "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": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ac1e5a55c2439d2e5e3b2e7be1d47c73cf1ba4e9acbfb1599bf8f6a03e5f710",
+    "visual_seed": 216311557982930955,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02acde30bfd07da50a1a80bba8042780a9f0ad33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28815610073977777,
+              -0.13991562485760292,
+              1.1668273981160096
+            ],
+            "current_z": 1.1668273981160096,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30572100931053314,
+            "gripper_z": 1.158011666905358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28408795004596665,
+              -0.14415686634762487,
+              1.158011666905358
+            ],
+            "object_minus_gripper": [
+              0.004068150693811112,
+              0.004241241490021946,
+              0.0088157312106516
+            ],
+            "object_to_gripper_xy": 0.005876902197947437,
+            "object_to_gripper_z": 0.0088157312106516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28815610073977777,
+              -0.1634250540124589,
+              1.1668273981160096
+            ],
+            "finger_b": [
+              0.2784634009776795,
+              -0.13991562485760292,
+              1.1668273981160096
+            ],
+            "finger_midpoint": [
+              0.28330975085872867,
+              -0.15167033943503092,
+              1.1668273981160096
+            ],
+            "object_minus_finger_midpoint": [
+              0.004846349881049095,
+              0.011754714577427994,
+              0.0
+            ],
+            "finger_gap": 0.025429150356733748,
+            "fingertip_max_gap": 0.09320487101516087,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012714575178366863,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668273981160096,
+            "object_top_z": 1.2172399096821187,
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+            "fingertip_min_top_clearance": 0.015123753469832746,
+            "object_projection_between_fingers": 0.8547133127338072,
+            "object_to_finger_line_xy": 0.008960969406356777,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049102435507580436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9112522143081356,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2638625662602223,
+              -0.38303664740084375,
+              0.8515395660988816
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+            "target_position": [
+              0.2578243401850561,
+              -0.38293335310517196,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0060391095242871016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18284273655224909,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395660988816,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559279703117229,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784030491253654,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15037557658162326,
+            "release_required_pad_clearance": 0.05392015245626827,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8503786288705664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007877826690673828,
+            "max_z_decrease": 0.007877826690673828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510096463066225,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007877826690673828,
+            "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": 0.021169541292300555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007877826690673828,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5772054f7edc6adb26fc5bf20fa39e1c6815d2b472caba84e15e85d2734e7900",
+    "visual_seed": 8603290185302005964,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb307e9e80521b79b6bcd096759d19fe02c6e1c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_71_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 71,
+  "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": [
+              0.2939802822885913,
+              -0.14461570382832867,
+              1.1659361893765314
+            ],
+            "current_z": 1.1659361893765314,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.304829800571055,
+            "gripper_z": 1.1569881854504862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2902739757906636,
+              -0.14872540143177698,
+              1.1569881854504862
+            ],
+            "object_minus_gripper": [
+              0.0037063064979276916,
+              0.004109697603448315,
+              0.008948003926045223
+            ],
+            "object_to_gripper_xy": 0.005534105370190366,
+            "object_to_gripper_z": 0.008948003926045223,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2939802822885913,
+              -0.16770219926722163,
+              1.1659361893765314
+            ],
+            "finger_b": [
+              0.28425582568898244,
+              -0.14461570382832867,
+              1.1659361893765314
+            ],
+            "finger_midpoint": [
+              0.28911805398878687,
+              -0.15615895154777515,
+              1.1659361893765314
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048622282998044275,
+              0.011543247719446481,
+              0.0
+            ],
+            "finger_gap": 0.025050974587981636,
+            "fingertip_max_gap": 0.09372767697053067,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012525487293990818,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659361893765314,
+            "object_top_z": 1.2163147446929858,
+            "finger_top_clearance": 0.05037855531645441,
+            "fingertip_min_top_clearance": 0.015113566594936323,
+            "object_projection_between_fingers": 0.8493110412370072,
+            "object_to_finger_line_xy": 0.008961871808384233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049363838485265335,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5370338246859276,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2696091673338882,
+              -0.38064824312081924,
+              0.8515394960066671
+            ],
+            "target_position": [
+              0.2638032563642305,
+              -0.38054179926200715,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00580688664282935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1811713846733741,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394960066671,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572782748991554,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08997739311941287,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1485380658097584,
+            "release_required_pad_clearance": 0.05498869655970644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.050759495649688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008065998554229736,
+            "max_z_decrease": 0.008065998554229736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511787414956519,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008065998554229736,
+            "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": 0.02103546928940425,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
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+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13631427943372845,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d58e53034d7d824d1950c697d6e26d2e213ed5e57cafe4388e87cce7db39a91",
+    "visual_seed": 6381714448586720219,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5a7ed801773439df2a9f3bfb642f5b6b8b39fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_73_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2870532266707589,
+              -0.14308924210321478,
+              1.1658126084189608
+            ],
+            "current_z": 1.1658126084189608,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.3047062196134842,
+            "gripper_z": 1.156896211001868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28327230048816854,
+              -0.14713165314607607,
+              1.156896211001868
+            ],
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+              0.0037809261825903495,
+              0.004042411042861294,
+              0.008916397417092936
+            ],
+            "object_to_gripper_xy": 0.005535023923854725,
+            "object_to_gripper_z": 0.008916397417092936,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2870532266707589,
+              -0.16639299798962687,
+              1.1658126084189608
+            ],
+            "finger_b": [
+              0.277668732238119,
+              -0.14308924210321478,
+              1.1658126084189608
+            ],
+            "finger_midpoint": [
+              0.28236097945443894,
+              -0.15474112004642082,
+              1.1658126084189608
+            ],
+            "object_minus_finger_midpoint": [
+              0.004692247216319945,
+              0.011651877943206046,
+              0.0
+            ],
+            "finger_gap": 0.025122375965854333,
+            "fingertip_max_gap": 0.09392030614151978,
+            "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": 1.1658126084189608,
+            "object_top_z": 1.2162430266092368,
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+            "fingertip_min_top_clearance": 0.015129125457082782,
+            "object_projection_between_fingers": 0.8604594788607144,
+            "object_to_finger_line_xy": 0.008705146665780211,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946015307075989,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.647660407503019,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2706029126152799,
+              -0.37947439482835105,
+              0.8515395023258471
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+            "target_position": [
+              0.2648361921433895,
+              -0.37904444786795444,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005782725948000158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18366268940692254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395023258471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516372333243285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08735068932196542,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522478060318348,
+            "release_required_pad_clearance": 0.05367534466098271,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.360365996583751,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007953643798828125,
+            "max_z_decrease": 0.007953643798828125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510751432546893,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007953643798828125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567222003703,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13356158301530477,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7524a8fabb13b683113a81acabcabe0fdeb8e1ce4630fbb0f13a9c5cf4f093b7",
+    "visual_seed": 5121718138356834740,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd304a97bb62f1b5eae39a6024117112ebddbb6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/episode_7_success.json
@@ -0,0 +1,2002 @@
+{
+  "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": [
+              0.28503869786260366,
+              -0.14425427141631395,
+              1.1658186681630873
+            ],
+            "current_z": 1.1658186681630873,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30471221975296614,
+            "gripper_z": 1.1569453959916531,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28124436646918854,
+              -0.1483396099058351,
+              1.1569453959916531
+            ],
+            "object_minus_gripper": [
+              0.003794331393415118,
+              0.0040853384895211675,
+              0.008873272171434188
+            ],
+            "object_to_gripper_xy": 0.005575566455259824,
+            "object_to_gripper_z": 0.008873272171434188,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28503869786260366,
+              -0.16751984899594202,
+              1.1658186681630873
+            ],
+            "finger_b": [
+              0.275533622484347,
+              -0.14425427141631395,
+              1.1658186681630873
+            ],
+            "finger_midpoint": [
+              0.2802861601734753,
+              -0.15588706020612797,
+              1.1658186681630873
+            ],
+            "object_minus_finger_midpoint": [
+              0.004752537689128367,
+              0.011632788789814025,
+              0.0
+            ],
+            "finger_gap": 0.025132320984342732,
+            "fingertip_max_gap": 0.09371690371539884,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012566160492171364,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658186681630873,
+            "object_top_z": 1.2162130013860097,
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+            "fingertip_min_top_clearance": 0.015118299966876692,
+            "object_projection_between_fingers": 0.8569638094850015,
+            "object_to_finger_line_xy": 0.008799070676791592,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935845185769942,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.488098697321995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26696574380399857,
+              -0.38204043228115775,
+              0.8515395734100419
+            ],
+            "target_position": [
+              0.26095358220166315,
+              -0.3819571191758501,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006012738827365812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18166330802470854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395734100419,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752521370824031,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800684548823139,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15021680084602057,
+            "release_required_pad_clearance": 0.054003422744115695,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.018174947246819,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008048474788665771,
+            "max_z_decrease": 0.008048474788665771,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035082129809933235,
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+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04820915636331462,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1655464192256125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325464078861989,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567502918818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13617971912239357,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "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": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8795614797710026623,
+    "physical_seed": 1402608805295628848,
+    "layout_id": "layout_00035",
+    "step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "workflow_spec_digest": "6efbf06403ce619bbe873bcc918d7cf2ceb795482126b1c7c0329f61327a0c79",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a02f16a7bc30f2a1ad3920cab7844052eb5f12ee8098dde0d2cd948f50cb57fa",
+    "visual_seed": 9203979471099593994,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3944254798520509588,
+      3028392388710505277,
+      408830198229115201,
+      5506603594016192635,
+      5255127595498083662,
+      5473445184449098552
+    ],
+    "runtime_workflow_digest": "d0b905e705f3c1fea800a67ad19dc0b1ce5d66e20f32a77c8efcef4b1e5417dc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cca8d679acbcdf8ac3f7092a80e91a4c02188a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00035/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00035",
+  "family": "lab3_v1",
+  "published_episodes": 37,
+  "published_successes": 37,
+  "published_failures": 0,
+  "matched_success_results": 37
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0000.h5
new file mode 100644
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--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6d413662da43beb793f90da75399a1b0e31cd7350d835ca5bbe3cb666c1881
+size 13052165
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38e86e7578362c259059ad16a0df0b13e6802504
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@@ -0,0 +1,3 @@
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